Path tracking control of a steerable catheter in transcatheter cardiology interventions.

Journal: International journal of computer assisted radiology and surgery
PMID: 38386176

Abstract

PURPOSE: Intracardiac transcatheter interventions allow for reducing trauma and hospitalization stays as compared to standard surgery. In the treatment of mitral regurgitation, the most widely adopted transcatheter approach consists in deploying a clip on the mitral valve leaflets by means of a catheter that is run through veins from a peripheral access to the left atrium. However, precise manipulation of the catheter from outside the body while copying with the path constraints imposed by the vessels remains challenging.

Authors

  • Xiu Zhang
  • Aditya Sridhar
    Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.
  • Xuan Thao Ha
    Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.
  • Syed Zain Mehdi
    Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.
  • Andrea Fortuna
    Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.
  • Mattia Magro
    Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.
  • Angela Peloso
    Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.
  • Anna Bicchi
    Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.
  • Mouloud Ourak
    Department of Mechanical Engineering, KU Leuven, Leuven, Belgium.
  • Andrea Aliverti
    Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo Da Vinci 32, 20133, Milan, Italy.
  • Emiliano Votta
    Department of Electronics Information and Bioengineering, Politecnico Di Milano, Milan, Italy.
  • Emmanuel Vander Poorten
    Department of Mechanical Engineering, University of Leuven, Celestijnenlaan 300B, 3001, Heverlee, Belgium.
  • Elena De Momi

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