Position control of robotic catheters inside the vasculature based on a predictive minimum energy model

摘要

Accurate and precise control of catheters inside a vasculature is a difficult yet important task. Current manual approaches require significant surgical skill. Over the years, surgeons build up a sort of mental kinematic map telling them how to handle the catheter in order to steer the catheter tip safely through the vessel system. The input-output behaviour of the catheter is complex and depends heavily on its configuration within and contacts with the vasculature. This paper introduces an alternative approach to control robotic catheters. The input-output behaviour or so-called differential kinematics are derived from a patient-specific vasculature model, following a minimum-energy argumentation. The validity of the proposed approach is demonstrated experimentally. Whereas the performance of model-based approaches is obviously greatly influenced by the correctness of estimated parameters, within this work we show experimentally how reasonable performance can already be achieved within the setup that was constructed. We expect that there is still ample room for improvement by, e.g., putting more sophisticated identification, modeling and collision detection schemes into place.