MRI-guided and Robot-assisted Catheterization for Cardiac Electrophysiological Intervention
Grant Data
Project Title
MRI-guided and Robot-assisted Catheterization for Cardiac Electrophysiological Intervention
Principal Investigator
Dr Kwok, Ka Wai
(Principal Investigator (PI))
Duration
36
Start Date
2016-01-01
Amount
1008875
Conference Title
MRI-guided and Robot-assisted Catheterization for Cardiac Electrophysiological Intervention
Presentation Title
Keywords
Image-guided intervention, Robotic catheter control
Discipline
Robotics and Automation
Panel
Engineering (E)
HKU Project Code
27209515
Grant Type
Early Career Scheme (ECS)
Funding Year
2015
Status
Completed
Objectives
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.