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Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System

机译：基于迭代Jacobian的逆运动学和MRI引导的磁致操纵导管系统的开环控制

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摘要

This paper presents an iterative Jacobian-based inverse kinematics method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying micro-coils embedded on the catheter tip, by the magnetic field of the magnetic resonance imaging (MRI) scanner. The Jacobian matrix relating changes of the currents through the coils to changes of the tip position is derived using a three dimensional kinematic model of the catheter deflection. The inverse kinematics is numerically computed by iteratively applying the inverse of the Jacobian matrix. The damped least square method is implemented to avoid numerical instability issues that exist during the computation of the inverse of the Jacobian matrix. The performance of the proposed inverse kinematics approach is validated using a prototype of the robotic catheter by comparing the actual trajectories of the catheter tip obtained via open-loop control with the desired trajectories. The results of reproducibility and accuracy evaluations demonstrate that the proposed Jacobian-based inverse kinematics method can be used to actuate the catheter in open-loop to successfully perform complex ablation trajectories required in atrial fibrillation ablation procedures. This study paves the way for effective and accurate closed-loop control of the robotic catheter with real-time feedback from MRI guidance in subsequent research.
机译：本文提出了一种基于Jacobian迭代的逆运动学方法，用于MRI引导的磁驱动可操纵血管内导管系统。通过磁共振成像（MRI）扫描仪的磁场，在嵌入在导管尖端上的一组载流微线圈上产生的磁转矩直接驱动导管。使用导管偏转的三维运动学模型，可以得出将流过线圈的电流的变化与尖端位置的变化相关联的雅可比矩阵。逆运动学是通过迭代应用Jacobian矩阵的逆来进行数值计算的。实施阻尼最小二乘法可避免在计算雅可比矩阵逆时存在数值不稳定问题。通过将通过开环控制获得的导管末端的实际轨迹与所需轨迹进行比较，使用机器人导管的原型验证了所提出的逆运动学方法的性能。可重复性和准确性评估的结果表明，所提出的基于Jacobian的逆运动学方法可用于开环驱动导管，以成功执行房颤消融手术所需的复杂消融轨迹。这项研究为通过后续MRI指导的实时反馈为机器人导管的有效，准确的闭环控制铺平了道路。

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