Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization
文献类型：期刊论文
| 作者 | Wang, Weizhao1; Wu, Zicong1; Saija, Carlo1; Zeidan, Aya1; Xu, Zhouyang1; Pishkahi, Aryana1; Patterson, Tiffany5; Redwood, Simon; Wang, Shuangyi2,3,4 ; Rhode, Kawal1
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2024-06-01 |
| 卷号 | 9期号:6页码:5254-5261 |
| 关键词 | Catheters Bending Clamps Robots Elongation Shafts Shape Kinematics actuation and joint mechanisms modeling control and learning for soft robots |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3388789 |
| 通讯作者 | Wang, Weizhao(weizhao.wang@kcl.ac.uk) |
| 英文摘要 | Catheters have been widely used to deal with heart valve diseases. However, the diversity in handle structures and bending curvatures imposes significant complexities in safe delivery and positioning. In this letter, we designed a module for single knob actuation assembled coaxially on the catheter handle, composed of a chuck for universal clamping of diameters from 15 to 45 mm and a position-adjustable shaft to accommodate various spacing between knobs. In addition, we proposed a two-curvature with pseudo joints (TC-PJ) model for bending control of bendable sections (BSs) in catheters. The verification was decoupled into two steps based on the other three deformation patterns. Firstly, comparing the two-curvature (TC) model with pseudo-rigid-body (PRB), constant curvature (CC), and Euler spiral (ES) models to simulate planar bending and elongation, the results showed a more accurate shape representation. Then, five distinct catheters were employed to test the clamping universality of the module and tip positioning precision of the TC-PJ model which took torsion and shear strain into consideration. The root-mean-square error (RMSE) and the standard deviation (SD) of tip position and direction were analysed. Results indicated the module's suitability for clamping these catheters, with the large guide sheath exhibiting minimal position RMSE (SD) of around 0.10 (0.051) mm and 0.049 (2.15) degrees, while the puncture catheter demonstrated the highest position and direction RMSE (SD) extending to about 1.16 (0.53) mm and 0.70 (31.33) degrees, primarily attributed to the coupling of two sequential bendable components. Overall, the proposed actuation module and kinematic model showed the ability of universal manipulation and an average tip position and direction RMSE of 0.65 mm and 0.23 degrees in free space. |
| WOS关键词 | INSTITUTIONAL REQUIREMENTS ; TRANSCATHETER ; OPERATOR ; REPAIR |
| 资助项目 | China Scholarship Council |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001209593700017 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | China Scholarship Council |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57026]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wang, Weizhao |
| 作者单位 | 1.Kings Coll London, Sch Biomed Engn & Imaging Sci, London WC2R 2LS, England 2.Chinese Acad Sci, Hong Kong Inst Sci & Innovat, Ctr Artificial Intelligence & Robot, Hong Kong, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 101408, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 5.Kings Coll London, Sch Cardiovasc Med & Sci, London SE1 7EH, England |
| 推荐引用方式 GB/T 7714 | Wang, Weizhao,Wu, Zicong,Saija, Carlo,et al. Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(6):5254-5261. |
| APA | Wang, Weizhao.,Wu, Zicong.,Saija, Carlo.,Zeidan, Aya.,Xu, Zhouyang.,...&Housden, Richard.(2024).Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization.IEEE ROBOTICS AND AUTOMATION LETTERS,9(6),5254-5261. |
| MLA | Wang, Weizhao,et al."Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization".IEEE ROBOTICS AND AUTOMATION LETTERS 9.6(2024):5254-5261. |
入库方式： OAI收割
来源：自动化研究所
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