Wang Weizhao, Xu Zhouyang, Zeidan Aya Mutaz, Saija Carlo, Zheng Yixuan, Arena Matteo, Wang Shuangyi, Housden Richard James, Rhode Kawal
School of Biomedical Engineering and Imaging Sciences, King's College London, WC2R 2LS London, U.K.
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China; School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 101408, China; Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Hong Kong.
IEEE ASME Trans Mechatron. 2025 Sep 10:1-11. doi: 10.1109/TMECH.2025.3602061.
Accurate clip positioning (including position, direction, and orientation) in transcatheter mitral edge-to-edge repair (M-TEER) is challenging due to the complexity of manipulating tendon-driven concentric catheters under imaging guidance. Existing methods are limited to either task-space position/shape control or image-space joint control. This study presents a compact eight-degree-of-freedom robot for controlling the PASCAL device, achieving closed-loop pose control in image space. Building on a prior variable curvature model, we develop a kinematic model that accounts for coupling between catheter handles and compensates for tip length variation. A prior sheath shape model is also integrated to support safer navigation in confined anatomy during clip adjustment. To achieve precise image-space pose control, we design a novel framework featuring a mapping strategy for independent control of clip position, direction, and orientation relative to registered imaging views, along with a Jacobian-based PID controller. Simulation results demonstrate effective independent control, with only direction adjustments exhibiting minor coupling with orientation (maximum deviation: 2.69°). Experiments show that closed-loop control effectively mitigates catheter misalignment and rubber deformation, achieving average positional and angular RMSEs to 0.52 mm and 0.61°. This robot provides precise, image-space pose control, which is expected to assist with the challenge of accurate clip positioning in M-TEER.
在经导管二尖瓣缘对缘修复术（M-TEER）中，由于在成像引导下操纵腱驱动的同心导管的复杂性，精确的夹子定位（包括位置、方向和取向）具有挑战性。现有方法仅限于任务空间位置/形状控制或图像空间关节控制。本研究提出了一种用于控制PASCAL装置的紧凑型八自由度机器人，可在图像空间中实现闭环姿态控制。基于先前的可变曲率模型，我们开发了一种运动学模型，该模型考虑了导管手柄之间的耦合并补偿了尖端长度变化。还集成了先前的鞘管形状模型，以支持在夹子调整期间在受限解剖结构中进行更安全的导航。为了实现精确的图像空间姿态控制，我们设计了一个新颖的框架，该框架具有一种映射策略，用于相对于注册的成像视图独立控制夹子的位置、方向和取向，以及一个基于雅可比矩阵的PID控制器。仿真结果表明实现了有效的独立控制，只有方向调整与取向表现出轻微的耦合（最大偏差：2.69°）。实验表明，闭环控制有效地减轻了导管的未对准和橡胶变形，实现了平均位置和角度均方根误差分别为0.52毫米和0.61°。该机器人提供精确的图像空间姿态控制，有望帮助应对M-TEER中精确夹子定位的挑战。
