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Article: Shape Tracking and Feedback Control of Cardiac Catheter Using MRI-guided Robotic Platform – Validation with Pulmonary Vein Isolation Simulator in MRI

TitleShape Tracking and Feedback Control of Cardiac Catheter Using MRI-guided Robotic Platform – Validation with Pulmonary Vein Isolation Simulator in MRI
Authors
KeywordsCatheters
Shape
Robot sensing systems
Image reconstruction
Robots
Issue Date2022
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860
Citation
IEEE Transactions on Robotics, 2022, p. 1-18 How to Cite?
AbstractCardiac electrophysiology is an effective treatment for atrial fibrillation, in which a long, steerable catheter is inserted into the heart chamber to conduct radio frequency ablation. Magnetic resonance imaging (MRI) can provide enhanced intraoperative monitoring of the ablation progress as well as the localization of catheter position. However, accurate and real-time tracking of the catheter shape and its efficient manipulation under MRI remains challenging. In this article, we designed a shape tracking system that integrates a multicore fiber Bragg grating (FBG) fiber and tracking coils with a standard cardiac catheter. Both the shape and positional tracking of the bendable section could be achieved. A learning-based modeling method is developed for cardiac catheters, which uses FBG-reconstructed three-dimensional curvatures for model initialization. The proposed modeling method was implemented on an MRI-guided robotic platform to achieve feedback control of a cardiac catheter. The shape tracking performance was experimentally verified, demonstrating 2.33° average error for each sensing segment and 1.53 mm positional accuracy at the catheter tip. The feedback control performance was tested by autonomous targeting and path following (average deviation of 0.62 mm) tasks. The overall performance of the integrated robotic system was validated by a pulmonary vein isolation simulator with ex-vivo tissue ablation, which employed a left atrial phantom with pulsatile liquid flow. Catheter tracking and feedback control tests were conducted in an MRI scanner, demonstrating the capability of the proposed system under MRI.
Persistent Identifierhttp://hdl.handle.net/10722/312312
ISSN
2023 Impact Factor: 9.4
2023 SCImago Journal Rankings: 3.669
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorDONG, Z-
dc.contributor.authorWang, X-
dc.contributor.authorHo, JD-
dc.contributor.authorHE, Z-
dc.contributor.authorFANG, G-
dc.contributor.authorTang, WL-
dc.contributor.authorCHING, CK-
dc.contributor.authorKwok, KW-
dc.date.accessioned2022-04-25T01:38:01Z-
dc.date.available2022-04-25T01:38:01Z-
dc.date.issued2022-
dc.identifier.citationIEEE Transactions on Robotics, 2022, p. 1-18-
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10722/312312-
dc.description.abstractCardiac electrophysiology is an effective treatment for atrial fibrillation, in which a long, steerable catheter is inserted into the heart chamber to conduct radio frequency ablation. Magnetic resonance imaging (MRI) can provide enhanced intraoperative monitoring of the ablation progress as well as the localization of catheter position. However, accurate and real-time tracking of the catheter shape and its efficient manipulation under MRI remains challenging. In this article, we designed a shape tracking system that integrates a multicore fiber Bragg grating (FBG) fiber and tracking coils with a standard cardiac catheter. Both the shape and positional tracking of the bendable section could be achieved. A learning-based modeling method is developed for cardiac catheters, which uses FBG-reconstructed three-dimensional curvatures for model initialization. The proposed modeling method was implemented on an MRI-guided robotic platform to achieve feedback control of a cardiac catheter. The shape tracking performance was experimentally verified, demonstrating 2.33° average error for each sensing segment and 1.53 mm positional accuracy at the catheter tip. The feedback control performance was tested by autonomous targeting and path following (average deviation of 0.62 mm) tasks. The overall performance of the integrated robotic system was validated by a pulmonary vein isolation simulator with ex-vivo tissue ablation, which employed a left atrial phantom with pulsatile liquid flow. Catheter tracking and feedback control tests were conducted in an MRI scanner, demonstrating the capability of the proposed system under MRI.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860-
dc.relation.ispartofIEEE Transactions on Robotics-
dc.rightsIEEE Transactions on Robotics. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License-
dc.subjectCatheters-
dc.subjectShape-
dc.subjectRobot sensing systems-
dc.subjectImage reconstruction-
dc.subjectRobots-
dc.titleShape Tracking and Feedback Control of Cardiac Catheter Using MRI-guided Robotic Platform – Validation with Pulmonary Vein Isolation Simulator in MRI-
dc.typeArticle-
dc.identifier.emailWang, X: wangxmei@connect.hku.hk-
dc.identifier.emailHo, JD: jhostaff@hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authorityKwok, KW=rp01924-
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/TRO.2022.3154691-
dc.identifier.hkuros332612-
dc.identifier.spage1-
dc.identifier.epage18-
dc.identifier.isiWOS:000779821400001-
dc.publisher.placeUnited States-

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