eprintid: 10188951
rev_number: 7
eprint_status: archive
userid: 699
dir: disk0/10/18/89/51
datestamp: 2024-05-16 14:44:23
lastmod: 2024-05-16 14:44:23
status_changed: 2024-05-16 14:44:23
type: article
metadata_visibility: show
sword_depositor: 699
creators_name: Lee, Kit-Hang
creators_name: Fu, Kin Chung Denny
creators_name: Guo, Ziyan
creators_name: Dong, Ziyang
creators_name: Leong, Martin CW
creators_name: Cheung, Chim-Lee
creators_name: Lee, Alex Pui-Wai
creators_name: Luk, Wayne
creators_name: Kwok, Ka-Wai
title: MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F42
keywords: MR Safe robot, robot-assisted intervention, MR
image registration, positional tracking in MRI.
note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
abstract: 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.
date: 2018-04
date_type: published
publisher: Institute of Electrical and Electronics Engineers (IEEE)
official_url: http://dx.doi.org/10.1109/tmech.2018.2801787
oa_status: green
full_text_type: other
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 1992404
doi: 10.1109/tmech.2018.2801787
lyricists_name: Guo, Ziyan
lyricists_id: ZGUOB28
actors_name: Guo, Ziyan
actors_id: ZGUOB28
actors_role: owner
full_text_status: public
publication: IEEE/ASME Transactions on Mechatronics
volume: 23
number: 2
pagerange: 586-595
issn: 1083-4435
citation:        Lee, Kit-Hang;    Fu, Kin Chung Denny;    Guo, Ziyan;    Dong, Ziyang;    Leong, Martin CW;    Cheung, Chim-Lee;    Lee, Alex Pui-Wai;         ... Kwok, Ka-Wai; + view all <#>        Lee, Kit-Hang;  Fu, Kin Chung Denny;  Guo, Ziyan;  Dong, Ziyang;  Leong, Martin CW;  Cheung, Chim-Lee;  Lee, Alex Pui-Wai;  Luk, Wayne;  Kwok, Ka-Wai;   - view fewer <#>    (2018)    MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization.                   IEEE/ASME Transactions on Mechatronics , 23  (2)   pp. 586-595.    10.1109/tmech.2018.2801787 <https://doi.org/10.1109/tmech.2018.2801787>.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10188951/1/MR%20Safe%20Robotic%20Manipulator%20for%20MRI-guided%20Intra-cardiac%20Catheterization.pdf