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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Model-Based Force Estimation for Intracardiac Catheters
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Model-Based Force Estimation for Intracardiac Catheters

机译：心内导管的基于模型的力估计

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摘要

The objectives of this paper are twofold: first, presenting an efficient quasi-static model for intracardiac catheters, and second, proposing a real-time approach for the estimation of the force at the tip using the proposed model. The force estimation approach has the potential to be used in conjunction with previously developed pose sensing technologies to provide a sense of the forces applied by the catheter to the heart tissue in cardiac ablation procedures. The catheter is modeled as a planar elastica, consisting of consecutive circular curves. The parameters of the model are obtained through experiments, leading to a precise description of the shape of the catheter for the given external forces. The approach incorporates modeling of the compound system (distal shaft and catheter body) with inhomogeneous mechanical properties. The force estimation approach is based on the pose measurement of the catheter tip along with the identified parameters of the catheter model. As a result of the low dimensionality of the proposed quasi-static model, the inverse problem can be efficiently solved for the estimation of the external forces. The experiments performed using electromagnetic sensors verify the feasibility of the proposed scheme in medical applications.
机译：本文的目的是双重的：首先，提出一种有效的心内导管准静态模型，其次，提出一种使用提出的模型估算尖端压力的实时方法。力估计方法具有与先前开发的姿势感测技术结合使用的潜力，以提供在心脏消融手术中导管施加到心脏组织的力的感觉。导管建模为平面弹性，由连续的圆形曲线组成。该模型的参数是通过实验获得的，从而可以精确描述给定外力下导管的形状。该方法结合了具有不均匀机械性能的复合系统（远端轴和导管体）的建模。力估计方法基于导管末端的姿态测量以及导管模型的识别参数。由于所提出的准静态模型的维数较低，因此可以有效地解决反问题，以估计外力。使用电磁传感器进行的实验验证了该方案在医疗应用中的可行性。

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