%P 586-595
%I Institute of Electrical and Electronics Engineers (IEEE)
%N 2
%J IEEE/ASME Transactions on Mechatronics
%L discovery10188951
%V 23
%K MR Safe robot, robot-assisted intervention, MR
image registration, positional tracking in MRI.
%O This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
%D 2018
%T MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization
%X 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.
%A Kit-Hang Lee
%A Kin Chung Denny Fu
%A Ziyan Guo
%A Ziyang Dong
%A Martin CW Leong
%A Chim-Lee Cheung
%A Alex Pui-Wai Lee
%A Wayne Luk
%A Ka-Wai Kwok