ArticleJournal of dynamic systems, measurement, and control2021
Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion.
Article in Journal of dynamic systems, measurement, and control, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
What it found
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The trial behind it
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Who cites it
3 citing papers in PubMed.
- Landing control of a magnetically actuated robotic catheter on beating heart surface.Scientific reports · 2025Article
- Analytical Computation of the Contact Force Jacobian for MRI-Actuated Robotic Catheter.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter.Journal of dynamic systems, measurement, and control · 2021Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
Contact force quality is one of the most critical factors for safe and effective lesion formation during catheter based atrial fibrillation ablation procedures. In this paper, the contact stability and contact safety of a novel magnetic resonance imaging (MRI)-actuated robotic cardiac ablation catheter subject to surface motion disturbances are studied. First, a quasi-static contact force optimization algorithm, which calculates the actuation needed to achieve a desired contact force at an instantaneous tissue surface configuration is introduced. This algorithm is then generalized using a least-squares formulation to optimize the contact stability and safety over a prediction horizon for a given estimated heart motion trajectory. Four contact force control schemes are proposed based on these algorithms. The first proposed force control scheme employs instantaneous heart position feedback. The second control scheme applies a constant actuation level using a quasi-periodic heart motion prediction. The third and the last contact force control schemes employ a generalized adaptive filter-based heart motion prediction, where the former uses the predicted instantaneous position feedback, and the latter is a receding horizon controller. The performance of the proposed control schemes is compared and evaluated in a simulation environment.
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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.