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
(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.
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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.
| Type: | Article |
|---|---|
| Title: | MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/tmech.2018.2801787 |
| Publisher version: | http://dx.doi.org/10.1109/tmech.2018.2801787 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | MR Safe robot, robot-assisted intervention, MR image registration, positional tracking in MRI. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10188951 |
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