Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2014:2014:4393-4398.
doi: 10.1109/ICRA.2014.6907499.

Three Dimensional Modeling of an MRI Actuated Steerable Catheter System

Taoming Liu  1 , M Cenk Cavuşoğlu  1
Affiliations

Three Dimensional Modeling of an MRI Actuated Steerable Catheter System

Taoming Liu et al. IEEE Int Conf Robot Autom. 2014.

Abstract

This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the MRI scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic modeling of the catheter system is derived. The proposed models are evaluated by comparing the simulation results of the proposed model with the experimental results of a proof-of-concept prototype.

PubMed Disclaimer

Figures

Fig. 1
Fig. 1
Illustration of catheter ablation procedure.
Fig. 2
Fig. 2
Illustration of a catheter prototype in a magnetic field, including a set of embedded current-carrying coils.
Fig. 3
Fig. 3
Diagram of a catheter divided into N finite segments.
Fig. 4
Fig. 4
Equilibrium configurations of the last segment.
Fig. 5
Fig. 5
Equilibrium configurations of two neighbor segments.
Fig. 6
Fig. 6
Diagrams of the deformations of one segment by bending in YZ and XZ planes. (a) Bending in YZ plane. (b) Bending in XZ plane.
Fig. 7
Fig. 7
Diagram of the deformation of one segment by a torsion.
Fig. 8
Fig. 8
Diagram of the proof-of-concept catheter prototype [2].
Fig. 9
Fig. 9
Simplified diagram of the catheter in a magnetic field. Coil 1 is the square side coil. Coil 2 and 3 are the axial coils. B1 = 1.5 T. The direction of the magnetic field points right, while the direction of the gravity points down.
Fig. 10
Fig. 10
The simulation result of the deflection of the catheter by sequentially exciting active coils. (a) The black diamonds represent the experimental deflections by exciting only the distal axial coil and the black triangle represents the largest deflection in the experiment. The red circles represent the simulation deflections by exciting the same axial coil and the red square represents the largest deflection in the simulation. (b) The percentage error between the simulation results and experimental results.
See this image and copyright information in PMC

References

    1. What Is Catheter Ablation? National Heart Lung and Blood Institute; http://www.nhlbi.nih.gov/health/health-topics/topics/ablation/
    1. Gudino N, Heilman JA, Derakhshan JJ, Sunshine JL, Duerk JL, Griswold MA. Control of intravascular catheters using an array of active steering coils. Medical physics. 2011 Jul;38(no. 7):4215–4224. - PMC - PubMed
    1. Niobe® ES Magnetic Navigation System. Stereotaxis; http://www.stereotaxis.com/niobe.html.
    1. Tunay I. Position control of catheters using magnetic fields. Mechatronics, 2004. ICM ’04. Proceedings of the IEEE International Conference; June 2004.pp. 392–397.
    1. — Modeling magnetic catheters in external fields. Proceedings of the 26th Annual International Conference of the IEEE EMBS; San Francisco, CA, USA. September 1-5, 2004.pp. 2006–2009. - PubMed

LinkOut - more resources