Experimental validation of robot-assisted cardiovascular catheterization: model-based versus model-free control.

Journal: International journal of computer assisted radiology and surgery
PMID: 29611096

Abstract

PURPOSE: In cardiac electrophysiology, a long and flexible catheter is delivered to a cardiac chamber for the treatment of arrhythmias. Although several robot-assisted platforms have been commercialized, the disorientation in tele-operation is still not well solved. We propose a validation platform for robot-assisted cardiac EP catheterization, integrating a customized MR Safe robot, a standard clinically used EP catheter, and a human-robot interface. Both model-based and model-free control methods are implemented in the platform for quantitative evaluation and comparison.

Authors

  • Xiaomei Wang
    The Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong.
  • Kit-Hang Lee
    1 Department of Mechanical Engineering, The University of Hong Kong , Hong Kong, Hong Kong .
  • Denny K C Fu
    1 Department of Mechanical Engineering, The University of Hong Kong , Hong Kong, Hong Kong .
  • Ziyang Dong
    The Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong.
  • Kui Wang
    The Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong.
  • Ge Fang
    The Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong.
  • Su-Lin Lee
    The Department of Computing, Imperial College London, London, UK.
  • Alex P W Lee
    Prince of Wales Hospital, The Chinese University of Hong Kong, Shatin, Hong Kong.
  • Ka-Wai Kwok
    Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, Hong Kong SAR, China.

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