MRI-guided and Robot-assisted Catheterization for Cardiac Electrophysiological Intervention
Dr Kwok, Ka Wai (Principal investigator)
Image-guided intervention, Robotic catheter control
Robotics and Automation
RGC Early Career Scheme (ECS)
HKU Project Code
Early Career Scheme (ECS)
1) To design a Field-Programmable Gate Arrays (FPGAs)-based computing architecture that can perform real-time, low-latency MR image registration for EP roadmap updates with the accurate localization of ablation targets; 2) To design and fabricate a high-performance MR-conditional robotic actuation system to accurately drive the EP catheters; 3) To develop kinematic-model-free control mapping that provides the operator with steady and accurate tele-manipulation of the catheter, which is localized with respect to the registered EP roadmap; 4) To validate the entire system’s potential clinical advantages in lab- and MRI-based experiments based on the performance indices relevant to the clinical benefits.