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Model predictive control of a robotically actuated delivery sheath for beating heart compensation.

Gustaaf J Vrooijink1, Alper Denasi1, Jan G Grandjean1,2

  • 1Department of Biomechanical Engineering, University of Twente, The Netherlands.

The International Journal of Robotics Research
|March 1, 2019
PubMed
Summary

Minimally invasive cardiovascular surgery requires advanced tools. This study introduces a robotically actuated delivery sheath (RADS) that precisely compensates for heart motion, improving surgical accuracy.

Keywords:
Model predictive controlbeating heart compensationrobotically actuated delivery sheathultrasound guided-control

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Area of Science:

  • Robotics
  • Medical Engineering
  • Cardiovascular Interventions

Background:

  • Minimally invasive surgery (MIS) offers benefits but faces limitations in instrument control and visibility.
  • Steerable catheters and sheaths are increasingly needed to enhance MIS capabilities.
  • Beating heart motion presents a significant challenge for precise instrument navigation.

Purpose of the Study:

  • To develop and evaluate a robotically actuated delivery sheath (RADS) for cardiovascular interventions.
  • To enable autonomous and accurate compensation for beating heart motions during MIS.
  • To improve the performance and capabilities of instruments used in cardiovascular MIS.

Main Methods:

  • Development of kinematic models for the RADS.
  • Integration of online ultrasound segmentation of the RADS with a model-predictive control (MPC) strategy.
  • Utilizing pre-operative ultrasound images to extract aortic heart valve (AHV) motion profiles for motion prediction.
  • Compensation for mechanical hysteresis in the steering mechanism to enhance tip positioning accuracy.

Main Results:

  • The integrated system successfully controlled the articulating tip of the RADS.
  • The RADS autonomously compensated for beating heart motions.
  • The system achieved a mean positioning error of 1.68 mm in following AHV motion.
  • Demonstrated improved tip positioning accuracy through hysteresis compensation.

Conclusions:

  • The developed RADS, integrated with MPC and ultrasound imaging, effectively assists clinicians in cardiovascular surgery.
  • The framework provides a novel approach for controlling continuum-style robots and catheters in cardiovascular interventions.
  • This technology has the potential for broad application in various cardiovascular procedures requiring precise instrument navigation.