Kouh Soltani Minou, Khanmohammadi Sohrab, Ghalichi Farzan
Department of Electrical and Computer Engineering, University of Tabriz, Tabriz 51666-14766, Iran.
Department of Biomedical Engineering, Sahand University of Technology, Tabriz 51335-1996, Iran.
Sensors (Basel). 2016 Jun 28;16(7):990. doi: 10.3390/s16070990.
This paper presents an efficient shape-based three-axial force and stiffness estimator for active catheters commonly implemented in cardiac ablation. The force-sensing capability provides important feedback for catheterization procedures including real-time control and catheter steering in autonomous navigation systems. The proposed platform is based on the introduced accurate and computationally efficient Cosserat rod model for tendon-driven catheters. The proposed nonlinear Kalman filter formulation for contact force estimation along with the developed catheter model provides a real-time force observer robust to nonlinearities and noise covariance uncertainties. Furthermore, the proposed platform enables stiffness estimation in addition to tip contact force sensing in different operational circumstances. The approach incorporates pose measurements which can be achieved using currently developed pose-sensing systems or imaging techniques. The method makes the approach compatible with the range of forces applied in clinical applications. The simulation and experimental results verify the viability of the introduced force and stiffness-sensing technique.
本文提出了一种高效的基于形状的三轴力和刚度估计器，用于心脏消融中常用的有源导管。力传感能力为包括自主导航系统中的实时控制和导管转向在内的导管插入手术提供重要反馈。所提出的平台基于引入的用于肌腱驱动导管的精确且计算高效的柯塞尔杆模型。所提出的用于接触力估计的非线性卡尔曼滤波器公式，连同所开发的导管模型，提供了一个对非线性和噪声协方差不确定性具有鲁棒性的实时力观测器。此外，所提出的平台除了在不同操作情况下进行尖端接触力传感外，还能够进行刚度估计。该方法纳入了姿态测量，这可以使用当前开发的姿态传感系统或成像技术来实现。该方法使该方法与临床应用中施加的力范围兼容。仿真和实验结果验证了所引入的力和刚度传感技术的可行性。
