Automatica (Journal of IFAC)
3D Ultrasound-Guided Motion Compensation System for Beating Heart Mitral Valve Repair
MICCAI '08 Proceedings of the 11th international conference on Medical Image Computing and Computer-Assisted Intervention - Part I
Robotic Motion Compensation for Beating Heart Intracardiac Surgery
International Journal of Robotics Research
Active filtering of physiological motion in robotized surgery using predictive control
IEEE Transactions on Robotics
Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery
IEEE Transactions on Robotics
Mechanics Modeling of Tendon-Driven Continuum Manipulators
IEEE Transactions on Robotics
Survey Controlling mechanical systems with backlash-a survey
Automatica (Journal of IFAC)
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Robotic cardiac catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, catheter technologies are currently unable to track fast tissue motion, which is required to perform delicate procedures inside a beating heart. This paper presents an actuated catheter tool that compensates for the motion of heart structures like the mitral valve apparatus by servoing a catheter guidewire inside a flexible sheath. We examine design and operation parameters and establish that friction and backlash limit the tracking performance of the catheter system. Based on the results of these experiments, we implement compensation methods to improve trajectory tracking. The catheter system is then integrated with an ultrasound-based visual servoing system to enable fast tissue tracking. In vivo tests show RMS tracking errors of 0.77 mm for following the porcine mitral valve annulus trajectory. The results demonstrate that an ultrasound-guided robotic catheter system can accurately track the fast motion of the mitral valve.