Task-space motion planning of MRI-actuated catheters for catheter ablation of atrial fibrillation

摘要

This paper presents a motion planning algorithm for Magnetic Resonance Imaging (MRI) actuated catheters for catheter ablation of atrial fibrillation. The MRI-actuated catheters is a new robotic catheter concept which utilizes MRI for remote steering and guidance. Magnetic moments generated by a set of coils wound near the tip are used to steer the catheter under MRI scanner magnetic field. The catheter during an ablation procedure is modeled as a constrained robotic manipulator with flexible joints, and the proposed motion-planning algorithm calculates a sequence of magnetic moments based on the manipulator model to move the tip of the catheter along a predefined trajectory on the surface of the left atrium. The difficulties in motion planning of the catheter are due to kinematic redundancy and underactuation. The proposed motion planning algorithm overcomes the challenges by operating in the task space instead of the configuration space. The catheter is then regulated around this nominal trajectory using feedback control to reduce the effect of uncertainties.