Position Control of Motion Compensation Cardiac Catheters.
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ABSTRACT:
SUBMITTER: Kesner SB
PROVIDER: S-EPMC3160644 | biostudies-literature | 2011 Jul
REPOSITORIES: biostudies-literature
Publications
Position Control of Motion Compensation Cardiac Catheters.
Kesner Samuel B SB Howe Robert D RD
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society 20110701 99
Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the fast motion of cardiac tissue using 3D ultrasound image guidance. We describe the design and operation of the mechanical drive system and catheter module and analyze the catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose ...[more]
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