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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System
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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 a magnetic resonance imaging (MRI) guided magnetically actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying microcoils embedded on the catheter tip by the magnetic field of the 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 an 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迭代雅可比的逆运动学方法，用于磁共振成像（MRI）引导的磁致动可操纵血管内导管系统。通过MRI扫描仪的磁场在嵌入在导管末端的一组载流微线圈上产生的磁扭矩直接驱动导管。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联系起来的雅可比矩阵。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。这项研究为在后续研究中利用MRI指导的实时反馈为机器人导管的有效和准确的闭环控制铺平了道路。

著录项

  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第4期|1765-1776|共12页
  • 作者

    Taoming Liu; Russell Jackson; Dominique Franson; Nate Lombard Poirot; Reinhardt Kam Criss; Nicole Seiberlich; Mark A. Griswold; M. Cenk Çavuşoğlu;

  • 作者单位

    Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA;

    Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA;

    Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, 44106, USA;

    Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA;

    Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA;

    Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, 44106, USA;

    Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, USA;

    Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, USA;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Catheters; Magnetic resonance imaging; Jacobian matrices; Kinematics; Coils; Robot kinematics;

    机译：导管;磁共振成像;雅可比矩阵;运动学;线圈;机器人运动学;
  • 入库时间 2022-08-17 13:03:28

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