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A Three-Dimensional Shape-Based Force and Stiffness-Sensing Platform for Tendon-Driven Catheters.

Minou Kouh Soltani¹, Sohrab Khanmohammadi², Farzan Ghalichi³

¹Department of Electrical and Computer Engineering, University of Tabriz, Tabriz 51666-14766, Iran. kouhsoltni@tabrizu.ac.ir.

Sensors (Basel, Switzerland)

|July 2, 2016

Summary

This summary is machine-generated.

This study introduces a novel system for estimating forces and stiffness in active catheters used in cardiac ablation. This technology enhances real-time control and autonomous navigation during procedures.

Keywords:

adaptive catheters force sensing iterative nonlinear Kalman filter stiffness estimation

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Fabrication and Implementation of a Reference-Free Traction Force Microscopy Platform

Fabrication and Implementation of a Reference-Free Traction Force Microscopy Platform

Published on: October 6, 2019

Area of Science:

Medical Robotics
Biomedical Engineering
Control Systems

Background:

Active catheters are crucial for cardiac ablation procedures.
Accurate force sensing is vital for real-time control, catheter steering, and autonomous navigation.
Existing methods may lack robustness to nonlinearities and uncertainties.

Purpose of the Study:

To develop an efficient shape-based estimator for three-axial force and stiffness in active catheters.
To provide real-time feedback for enhanced catheterization procedures.
To enable stiffness estimation alongside contact force sensing.

Main Methods:

Utilized an accurate and computationally efficient Cosserat rod model for tendon-driven catheters.
Implemented a nonlinear Kalman filter formulation for robust contact force estimation.
Integrated pose measurements from existing systems or imaging techniques.

Main Results:

Demonstrated a real-time force observer robust to nonlinearities and noise covariance uncertainties.
Successfully enabled simultaneous estimation of forces and stiffness.
Validated the approach's compatibility with clinical force ranges through simulations and experiments.

Conclusions:

The proposed platform offers a viable technique for force and stiffness sensing in active catheters.
This technology can significantly improve safety and efficacy in cardiac ablation procedures.
The developed method supports real-time control and autonomous navigation systems.