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血流扰动下机器人血管内心脏导管的接触稳定性和接触安全性分析

Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances.

作者信息

Hao Ran, Poirot Nate Lombard, Çavuşoğlu M Cenk

机构信息

Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH.

出版信息

Rep U S. 2020 Oct;2020:3216-3223. doi: 10.1109/iros45743.2020.9341527. Epub 2021 Feb 10.

DOI:10.1109/iros45743.2020.9341527
PMID:34079624
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8165756/
Abstract

This paper studies the contact stability and contact safety of a robotic intravascular cardiac catheter under blood flow disturbances while in contact with tissue surface. A probabilistic blood flow disturbance model, where the blood flow drag forces on the catheter body are approximated using a quasi-static model, is introduced. Using this blood flow disturbance model, probabilistic contact stability and contact safety metrics, employing a sample based representation of the blood flow velocity distribution, are proposed. Finally, the contact stability and contact safety of a MRI-actuated robotic catheter are analyzed using these models in a specific example scenario under left pulmonary inferior vein (LIV) blood flow disturbances.

摘要

本文研究了机器人血管内心脏导管在与组织表面接触时，在血流干扰下的接触稳定性和接触安全性。引入了一种概率血流干扰模型，其中导管主体上的血流阻力采用准静态模型进行近似。利用该血流干扰模型，提出了基于血流速度分布的样本表示的概率接触稳定性和接触安全性指标。最后，在左肺下静脉（LIV）血流干扰的特定示例场景中，使用这些模型分析了磁共振成像驱动的机器人导管的接触稳定性和接触安全性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/032a352a2c5e/nihms-1705038-f0009.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/5a71dea4bf04/nihms-1705038-f0006.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/032a352a2c5e/nihms-1705038-f0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/8f8ffe60f352/nihms-1705038-f0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/d570a7aae7f9/nihms-1705038-f0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/794fb17c1bc2/nihms-1705038-f0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/ae48e65f558d/nihms-1705038-f0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/9f8d609023de/nihms-1705038-f0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/5a71dea4bf04/nihms-1705038-f0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/4929d04d5b00/nihms-1705038-f0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/c2dc16aa2ee8/nihms-1705038-f0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/ed3a/8165756/032a352a2c5e/nihms-1705038-f0009.jpg

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本文引用的文献

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2
Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots.基于雅可比矩阵的磁共振成像驱动连续体机器人任务空间运动规划
IEEE Robot Autom Lett. 2019 Jan;4(1):145-152. doi: 10.1109/LRA.2018.2881987. Epub 2018 Nov 19.
3
Experimental Validation of the Pseudo-Rigid-Body Model of the MRI-Actuated Catheter.
磁共振成像驱动导管的伪刚体模型的实验验证
IEEE Int Conf Robot Autom. 2017 May-Jun;2017:3600-3605. doi: 10.1109/ICRA.2017.7989414. Epub 2017 Jul 24.
4
Paroxysmal atrial fibrillation ablation: Achieving permanent pulmonary vein isolation by point-by-point radiofrequency lesions.阵发性心房颤动消融：通过逐点射频消融实现永久性肺静脉隔离。
World J Cardiol. 2017 Mar 26;9(3):230-240. doi: 10.4330/wjc.v9.i3.230.
5
Modeling and Validation of the Three-Dimensional Deflection of an MRI-Compatible Magnetically Actuated Steerable Catheter.磁共振成像兼容的磁驱动可控导管三维偏转的建模与验证
IEEE Trans Biomed Eng. 2016 Oct;63(10):2142-54. doi: 10.1109/TBME.2015.2510743. Epub 2015 Dec 22.
6
Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters.磁共振成像驱动导管的伪刚体模型及运动学分析
IEEE Int Conf Robot Autom. 2015 May;2015:2263-2243. doi: 10.1109/ICRA.2015.7139495.
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Modeling and estimation of tip contact force for steerable ablation catheters.可转向消融导管尖端接触力的建模与估计
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