ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2017
Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
What it found
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
15 citing papers in PubMed, 51 citations in OpenAlex.
- 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
- 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
- Magnetic guidewire steering at ultrahigh magnetic fields.Science advances · 2023Article
- Design and path tracking control of a continuum robot for maxillary sinus surgery.International journal of computer assisted radiology and surgery · 2023Article
- Magnetically steerable catheters: State of the art review.Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine · 2023Review
- A Convolutional Dynamic-Jerk-Planning Algorithm for Impedance Control of Variable-Stiffness Cable-Driven Manipulators.Micromachines · 2022Article
- Kinematic Modeling and Jacobian-based Control of the COAST Guidewire Robot.IEEE transactions on medical robotics and bionics · 2022Article
- MRI-guided endovascular intervention: current methods and future potential.Expert review of medical devices · 2022Review
- 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
- Magnetic Soft Materials and Robots.Chemical reviews · 2022Review
- A Survey on Design, Actuation, Modeling, and Control of Continuum Robot.Cyborg and bionic systems (Washington, D.C.) · 2022Review
- 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
- Analysis of Dynamic Response of an MRI-Guided Magnetically-Actuated Steerable Catheter System.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2018Article
Corrections and comments
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Authors and funding
8 authors at 2 institutions in 1 country.
Funding
Abstract
This paper presents an iterative Jacobian-based inverse kinematics method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying micro-coils embedded on the catheter tip, by the magnetic field of the magnetic resonance imaging (MRI) scanner. The Jacobian matrix relating changes of the currents through the coils to changes of the tip position is derived using a three dimensional kinematic model of the catheter deflection. The inverse kinematics is numerically computed by iteratively applying the inverse of the Jacobian matrix. The damped least square method is implemented to avoid numerical instability issues that exist during the computation of the inverse of the Jacobian matrix. The performance of the proposed inverse kinematics approach is validated using a prototype of the robotic catheter by comparing the actual trajectories of the catheter tip obtained via open-loop control with the desired trajectories. The results of reproducibility and accuracy evaluations demonstrate that the proposed Jacobian-based inverse kinematics method can be used to actuate the catheter in open-loop to successfully perform complex ablation trajectories required in atrial fibrillation ablation procedures. This study paves the way for effective and accurate closed-loop control of the robotic catheter with real-time feedback from MRI guidance in subsequent research.
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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.