Multi-turn, tension-stiffening catheter navigation system
In poorly constrained extra-vascular environments such as hollow viscera, current catheter navigation techniques are restricted to simple paths and therefore limit a doctor's ability to position the catheter. This paper presents a new catheter positioning system that enables faster and more acc...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/79683 https://orcid.org/0000-0003-2314-3031 https://orcid.org/0000-0003-2387-8011 https://orcid.org/0000-0002-5048-4109 https://orcid.org/0000-0002-7434-2447 |
| _version_ | 1826199296929693696 |
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| author | Gupta, Rajiv Chen, Yi Chang, Jean H. Greenlee, Alison S. Cheung, Kenneth Chun-Wai Slocum, Alexander H |
| author2 | Massachusetts Institute of Technology. Center for Bits and Atoms |
| author_facet | Massachusetts Institute of Technology. Center for Bits and Atoms Gupta, Rajiv Chen, Yi Chang, Jean H. Greenlee, Alison S. Cheung, Kenneth Chun-Wai Slocum, Alexander H |
| author_sort | Gupta, Rajiv |
| collection | MIT |
| description | In poorly constrained extra-vascular environments such as hollow viscera, current catheter navigation techniques are restricted to simple paths and therefore limit a doctor's ability to position the catheter. This paper presents a new catheter positioning system that enables faster and more accurate catheter placement, with fewer scans. The proposed robotic catheter navigation system can execute curved paths and maintain any number of three-dimensional turns using tension stiffening guide-wires composed of a set of disposable friction-locking beads. An external, reusable control system is used to automate the movement of the catheter. This control system uses a custom-designed graphical kinematic analysis program that predicts contact forces, changes in conformation due to external forces, tip deflection and failure modes of the catheter as it advances. |
| first_indexed | 2024-09-23T11:17:56Z |
| format | Article |
| id | mit-1721.1/79683 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:17:56Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/796832022-10-01T02:38:55Z Multi-turn, tension-stiffening catheter navigation system Gupta, Rajiv Chen, Yi Chang, Jean H. Greenlee, Alison S. Cheung, Kenneth Chun-Wai Slocum, Alexander H Massachusetts Institute of Technology. Center for Bits and Atoms Massachusetts Institute of Technology. Department of Mechanical Engineering Program in Media Arts and Sciences (Massachusetts Institute of Technology) Chen, Yi Chang, Jean H. Greenlee, Alison S. Cheung, Kenneth Chun-Wai Slocum, Alexander H. In poorly constrained extra-vascular environments such as hollow viscera, current catheter navigation techniques are restricted to simple paths and therefore limit a doctor's ability to position the catheter. This paper presents a new catheter positioning system that enables faster and more accurate catheter placement, with fewer scans. The proposed robotic catheter navigation system can execute curved paths and maintain any number of three-dimensional turns using tension stiffening guide-wires composed of a set of disposable friction-locking beads. An external, reusable control system is used to automate the movement of the catheter. This control system uses a custom-designed graphical kinematic analysis program that predicts contact forces, changes in conformation due to external forces, tip deflection and failure modes of the catheter as it advances. 2013-07-23T17:48:34Z 2013-07-23T17:48:34Z 2010-05 2010-02 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-5038-1 http://hdl.handle.net/1721.1/79683 Yi Chen, Jean H Chang, Alison S Greenlee, Kenneth C Cheung, Alex H Slocum, and Rajiv Gupta. Multi-turn, Tension-stiffening Catheter Navigation System. In 2010 IEEE International Conference on Robotics and Automation, 5570-5575. Institute of Electrical and Electronics Engineers, 2010. © Copyright 2010 IEEE https://orcid.org/0000-0003-2314-3031 https://orcid.org/0000-0003-2387-8011 https://orcid.org/0000-0002-5048-4109 https://orcid.org/0000-0002-7434-2447 en_US http://dx.doi.org/10.1109/ROBOT.2010.5509786 Proceedings of the 2010 IEEE International Conference on Robotics and Automation Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers (IEEE) IEEE |
| spellingShingle | Gupta, Rajiv Chen, Yi Chang, Jean H. Greenlee, Alison S. Cheung, Kenneth Chun-Wai Slocum, Alexander H Multi-turn, tension-stiffening catheter navigation system |
| title | Multi-turn, tension-stiffening catheter navigation system |
| title_full | Multi-turn, tension-stiffening catheter navigation system |
| title_fullStr | Multi-turn, tension-stiffening catheter navigation system |
| title_full_unstemmed | Multi-turn, tension-stiffening catheter navigation system |
| title_short | Multi-turn, tension-stiffening catheter navigation system |
| title_sort | multi turn tension stiffening catheter navigation system |
| url | http://hdl.handle.net/1721.1/79683 https://orcid.org/0000-0003-2314-3031 https://orcid.org/0000-0003-2387-8011 https://orcid.org/0000-0002-5048-4109 https://orcid.org/0000-0002-7434-2447 |
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