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Title: A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter
Abstract The disturbances caused by the blood flow and tissue surface motions are major concerns during the motion planning of an intracardiac robotic catheter. Maintaining a stable and safe contact on the desired ablation point is essential for achieving effective lesions during the ablation procedure. In this paper, a probabilistic formulation of the contact stability and the contact safety for intravascular cardiac catheters under the blood flow and surface motion disturbances is presented. Probabilistic contact stability and contact safety metrics, employing a sample-based representation of the blood flow velocity distribution and the heart motion trajectory, are introduced. Finally, the contact stability and safety for an magnetic resonance imaging-actuated robotic catheter under main pulmonary artery blood flow disturbances and left ventricle surface motion disturbances are analyzed in simulation as example scenarios.  more » « less
Award ID(s):
1700839 1563805 1524363
NSF-PAR ID:
10309157
Author(s) / Creator(s):
 ;  
Date Published:
Journal Name:
Journal of Dynamic Systems, Measurement, and Control
Volume:
143
Issue:
9
ISSN:
0022-0434
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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