TY  - JOUR
SN  - 1083-4435
UR  - http://dx.doi.org/10.1109/tmech.2018.2801787
JF  - IEEE/ASME Transactions on Mechatronics
A1  - Lee, Kit-Hang
A1  - Fu, Kin Chung Denny
A1  - Guo, Ziyan
A1  - Dong, Ziyang
A1  - Leong, Martin CW
A1  - Cheung, Chim-Lee
A1  - Lee, Alex Pui-Wai
A1  - Luk, Wayne
A1  - Kwok, Ka-Wai
VL  - 23
SP  - 586
N1  - This version is the author accepted manuscript. For information on re-use, please refer to the publisher?s terms and conditions.
IS  - 2
ID  - discovery10188951
N2  - This article introduces a robotic manipulator to
realize robot-assisted intra-cardiac catheterization in magnetic
resonance imaging (MRI) environment. MRI can offer highresolution images to visualize soft tissue features such as scars or
edema. We hypothesize that robotic catheterization, combined
with the enhanced monitoring of lesions creation using MRI intraoperatively, will significantly improve the procedural safety,
accuracy and effectiveness. This is designed particularly for
cardiac electrophysiological (EP) intervention, which is an
effective treatment of arrhythmia. We present the first MR Safe
robot for intra-cardiac EP intervention. The robot actuation
features small hysteresis, effective force transmission and quick
response, which has been experimentally verified for its capability
to precisely tele-manipulate a standard clinically used EP
catheter. We also present timely techniques for real-time
positional tracking in MRI and intra-operative image
registration, which can be integrated with the presented
manipulator to improve the performance of tele-operated robotic
catheterization.
PB  - Institute of Electrical and Electronics Engineers (IEEE)
KW  - MR Safe robot
KW  -  robot-assisted intervention
KW  -  MR
image registration
KW  -  positional tracking in MRI.
TI  - MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization
EP  - 595
AV  - public
Y1  - 2018/04//
ER  -