ArticleIEEE transactions on bio-medical engineering2016
Modeling and Validation of the Three-Dimensional Deflection of an MRI-Compatible Magnetically Actuated Steerable Catheter.
Article in IEEE transactions on bio-medical engineering, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 30 papers.
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Who cites it
30 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
- Magnetic resonance imaging safety-driven, heat-mitigating design for a magnetic resonance imaging-guided, magnetically actuated robotic catheter.Medical physics · 2026Article
- Wireless and batteryless two-dimensional opto-electro-mechanical positioner inside 3 T MRI scanner.Magma (New York, N.Y.) · 2026Article
- Landing control of a magnetically actuated robotic catheter on beating heart surface.Scientific reports · 2025Article
- Free-Space Dynamic Modeling of an MRI-Actuated Robotic Catheter.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2025Article
- Bayesian Optimization Based Preprocedural Planning For Robotic Left Atrial Appendage Occlusion.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2024Article
- Magnetically steerable catheters: State of the art review.Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine · 2023Review
- MRI-guided endovascular intervention: current methods and future potential.Expert review of medical devices · 2022Review
- Continuum Robots for Medical Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- A Novel Remote-Controlled Vascular Interventional Robotic System Based on Hollow Ultrasonic Motor.Micromachines · 2022Article
- Towards catheter steering using magnetic tractor beam coupling.Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine · 2022Article
- MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic System.IEEE access : practical innovations, open solutions · 2022Article
- A System for Real-Time, Online Mixed-Reality Visualization of Cardiac Magnetic Resonance Images.Journal of imaging · 2021Article
- A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter.Journal of dynamic systems, measurement, and control · 2021Article
- Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion.Journal of dynamic systems, measurement, and control · 2021Article
- Wireless MRI-Powered Reversible Orientation-Locking Capsule Robot.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2021Article
- Real-Time Multi-Modal Sensing and Feedback for Catheterization in Porcine Tissue.Sensors (Basel, Switzerland) · 2021Article
- Magnetic Resonance Imaging-Compatible Optically Powered Miniature Wireless Modular Lorentz Force Actuators.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2021Article
- Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2020Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
objectiveThis paper presents the 3-D kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying microcoils, is actuated by the magnetic forces generated by the magnetic field of the magnetic resonance imaging (MRI) scanner.
methodsThis paper develops a 3-D model of the MRI-actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic model of the catheter system is derived.
resultsThe proposed models are validated by comparing the simulation results of the proposed model with the experimental results of a hardware prototype of the catheter design. The maximum tip deflection error is 4.70 mm and the maximum root-mean-square error of the shape estimation is 3.48 mm.
conclusionThe results demonstrate that the proposed model can successfully estimate the deflection motion of the catheter. SIGNIFICANCE: The presented 3-D deflection model of the magnetically controlled catheter design paves the way to efficient control of the robotic catheter for the treatment of atrial fibrillation.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.