Download "Design and Control of Motion Compensation Cardiac

Building A Robotic Catheter Device for Cardiac Ablations Combining
Ultrasound Guidance With Motion Compensation
Sarah Ahmed Al-Tarouti
Mohammad Rahaman
ABSTRACT
RESULTS
Advances in cardiac catheter technologies have allowed physicians to treat
different complicated valvular thrombotic and cardiac rhythms conditions
using minimally invasive techniques. While catheters can perform many
functions inside the heart, they still come short in providing complex tissue
modifications. The impairment risks come from the inability to compensate
the motion of the cardiac tissue. Therefore, the conventional methods are
unable to effectively track the intracardiac fast tissue motion potentially
applying some damaging exertion. The robotic catheter introduced in this
research is a catheter system that uses 3D ultrasound as image guidance with a
control system to enable constant motion compensation while targeting the
specific moving surface during ablation. The mapping system produces
position-modulated force in real time to friction and hence damage. The initial
concept and methodology have been discussed in several interviews with
cardiologist interested in electrophysiology in Aurora Health Care medical
center and Medical College of Wisconsin. The next step is an expected
collaboration to test the module and system design in an in vivo condition.
This project is intended to revolutionize cardiac ablations and surgeries.
• Heart diseases are the most leading causes for death in industualized
nations.
• The study is yet in its very first stages, we have been discussing ideas to
reach the best approach when targeting the cardiac tissue. This remains the
largest struggle considering the sensitivity and mobility of the heart.
Working with the Engineer David Krum to discuss the best possible ways to
do so.
•
No Results to show yet since we are in the trial and error phase.
.
METHODOLOGY
• 3D in Real Time And Tissue Tracking:
APPROACH
The robotic motion will depend on mainly two main engineering approaches
that will minimize invasiveness and increase efficacy.
1.The Mechanical Design:
The prototype relies on image based catheter control. The catheter is a long
flexible tube that can be easily inserted into the heart via blood vessels. The
flexibility of the catheter is important for dexterity and bending for tissue
modification. Adding a force sensor at the tip helps targeting the moving tissue
with stability and control.
The real time view allows the physician to deal with the procedure in 3D image
volume. The control system transform the algorithms to he computer
connected to the robotic device in which it processes where the target tissue is
located on the axis of rotation of that catheter. The the clinician have a smooth
operation since it is manually controlled and adjust by their end.
CONCLUSION
• This study applies the Intracardiac Echocardiography, the 3D,
catheter techniques to enable the orientation and monitoring of
tissue interactions. This robotic system is innovative and has the
potential to greatly increase the clinicians capabilities while
reducing procedure times. Future work will focus on building the
device and in vivo validation to current mathematical and physical
theories.
• Force Control:
Force sensor on the tip of the catheter should apply a sufficient force to
compensate the motion of the heart approximated at 5 N and a linear actuator
and potentiometer.
2. The System Design:
The Control System is to control the velocity and force friction of the module
with a volumetric mapping technique. This will be performed by using a multi
degrees of freedom to allow the catheter to track complex 3-D trajectories. This
system will have sufficient acceleration to compensate the beating heart. An
experimental system is being developed as of right now
• Time-Delay Compensation:
The 3D ultrasound volumes will help physicians to predict the catheter path and
trajectory in real time to reduce and compensate time delays.
BIBLIOGRAPHY
1.Mountantonakis, Stavros, and Edward P. Gerstenfeld. "Atrial Tachycardias Occurring
After Atrial Fibrillation Ablation: Strategies for Mapping and Ablation." Journal of
Atrial Fibrillation 2.2 (2010): n. pag. Web.
CONTACT
INFORMATION
Sarah Altarouti : [email protected]
David Krum: [email protected]
Mohammed Rahaman: [email protected]
2. Kesner, Samuel B., and Robert D. Howe. "Position Control of Motion Compensation
Cardiac Catheters." IEEE Transactions on Robotics 27.6 (2011): 1045-055. Web.
3. Kesner, Samuel Benjamin, and Robert D. Howe. "Design and Control of Motion
Compensation Cardiac Catheters." Digital Access to Scholarship at Harvard.
Institute of Electrical and Electronics Engineers, 01 Jan. 1970. Web. 25 Mar. 2017.