ArticleInternational journal of computer assisted radiology and surgery2016
Magnetic resonance imaging compatible remote catheter navigation system with 3 degrees of freedom.
Article in International journal of computer assisted radiology and surgery, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed.
- Interleaved Imaging and Actuation for Real-Time MRI During Active Control of a Magnetically-Actuated Robotic Catheter.IEEE transactions on bio-medical engineering · 2026Article
- Bedside Admittance Control of a Dual-Segment Soft Robot for Catheter-Based Interventions.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2024Article
- How AI and Robotics Will Advance Interventional Radiology: Narrative Review and Future Perspectives.Diagnostics (Basel, Switzerland) · 2024Review
- Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review.Micromachines · 2023Review
- A Novel Remote-Controlled Vascular Interventional Robotic System Based on Hollow Ultrasonic Motor.Micromachines · 2022Article
- A Vascular Intervention Assist Device Using Bi-Motional Roller Cartridge Structure and Clinical Evaluation.Biosensors · 2021Article
- Real-Time Multi-Modal Sensing and Feedback for Catheterization in Porcine Tissue.Sensors (Basel, Switzerland) · 2021Article
- Real-time MRI guidance of cardiac interventions.Journal of magnetic resonance imaging : JMRI · 2017Review
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
purposeTo facilitate MRI-guided catheterization procedures, we present an MRI-compatible remote catheter navigation system that allows remote navigation of steerable catheters with 3 degrees of freedom.
methodsThe system consists of a user interface (master), a robot (slave), and an ultrasonic motor control servomechanism. The interventionalist applies conventional motions (axial, radial and plunger manipulations) on an input catheter in the master unit; this user input is measured and used by the servomechanism to control a compact catheter manipulating robot, such that it replicates the interventionalist's input motion on the patient catheter. The performance of the system was evaluated in terms of MRI compatibility (SNR and artifact), feasibility of remote navigation under real-time MRI guidance, and motion replication accuracy.
resultsReal-time MRI experiments demonstrated that catheter was successfully navigated remotely to desired target references in all 3 degrees of freedom. The system had an absolute value error of [Formula: see text]1 mm in axial catheter motion replication over 30 mm of travel and [Formula: see text] for radial catheter motion replication over [Formula: see text]. The worst case SNR drop was observed to be [Formula: see text]3 %; the robot did not introduce any artifacts in the MR images.
conclusionAn MRI-compatible compact remote catheter navigation system has been developed that allows remote navigation of steerable catheters with 3 degrees of freedom. The proposed system allows for safe and accurate remote catheter navigation, within conventional closed-bore scanners, without degrading MR image quality.
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