Experimental validation of robot-assisted cardiovascular catheterization: model-based versus model-free control

Experimental validation of robot-assisted cardiovascular catheterization: model-based versus... Purpose In cardiac electrophysiology, a long and flexible catheter is delivered to a cardiac chamber for the treatment of arrhythmias. Although several robot-assisted platforms have been commercialized, the disorientation in tele-operation is still not well solved. We propose a validation platform for robot-assisted cardiac EP catheterization, integrating a customized MR Safe robot, a standard clinically used EP catheter, and a human–robot interface. Both model-based and model-free control methods are implemented in the platform for quantitative evaluation and comparison. Methods The model-based and model-free control methods were validated by subject test (ten participants), in which the subjects have to perform a simulated radiofrequency ablation task using both methods. A virtual endoscopic view of the catheter is also provided to enhance hand-to-eye coordination. Assessment indices for targeting accuracy and efficiency were acquired for the evaluation. Results (1) Accuracy: The average distance measured from catheter tip to the closest lesion target during ablation of model- free method was 19.1% shorter than that of model-based control. (2) Efficiency: The model-free control reduced the total missed targets by 35.8% and the maximum continuously missed targets by 46.2%, both indices corresponded to a low p value (≤ 0.05). Conclusion The model-free method performed better in http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Computer Assisted Radiology and Surgery Springer Journals

Experimental validation of robot-assisted cardiovascular catheterization: model-based versus model-free control

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Publisher
Springer Journals
Copyright
Copyright © 2018 by CARS
Subject
Medicine & Public Health; Imaging / Radiology; Surgery; Health Informatics; Computer Imaging, Vision, Pattern Recognition and Graphics; Computer Science, general
ISSN
1861-6410
eISSN
1861-6429
D.O.I.
10.1007/s11548-018-1757-z
Publisher site
See Article on Publisher Site

Abstract

Purpose In cardiac electrophysiology, a long and flexible catheter is delivered to a cardiac chamber for the treatment of arrhythmias. Although several robot-assisted platforms have been commercialized, the disorientation in tele-operation is still not well solved. We propose a validation platform for robot-assisted cardiac EP catheterization, integrating a customized MR Safe robot, a standard clinically used EP catheter, and a human–robot interface. Both model-based and model-free control methods are implemented in the platform for quantitative evaluation and comparison. Methods The model-based and model-free control methods were validated by subject test (ten participants), in which the subjects have to perform a simulated radiofrequency ablation task using both methods. A virtual endoscopic view of the catheter is also provided to enhance hand-to-eye coordination. Assessment indices for targeting accuracy and efficiency were acquired for the evaluation. Results (1) Accuracy: The average distance measured from catheter tip to the closest lesion target during ablation of model- free method was 19.1% shorter than that of model-based control. (2) Efficiency: The model-free control reduced the total missed targets by 35.8% and the maximum continuously missed targets by 46.2%, both indices corresponded to a low p value (≤ 0.05). Conclusion The model-free method performed better in

Journal

International Journal of Computer Assisted Radiology and SurgerySpringer Journals

Published: Apr 2, 2018

References

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