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International Journal of Computer Assisted Radiology and Surgery

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Open Access 22-02-2024 | Original Article

Path tracking control of a steerable catheter in transcatheter cardiology interventions

Authors: Xiu Zhang, Aditya Sridhar, Xuan Thao Ha, Syed Zain Mehdi, Andrea Fortuna, Mattia Magro, Angela Peloso, Anna Bicchi, Mouloud Ourak, Andrea Aliverti, Emiliano Votta, Emmanuel Vander Poorten, Elena De Momi

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 4/2024

Abstract

Purpose

Intracardiac transcatheter interventions allow for reducing trauma and hospitalization stays as compared to standard surgery. In the treatment of mitral regurgitation, the most widely adopted transcatheter approach consists in deploying a clip on the mitral valve leaflets by means of a catheter that is run through veins from a peripheral access to the left atrium. However, precise manipulation of the catheter from outside the body while copying with the path constraints imposed by the vessels remains challenging.

Methods

We proposed a path tracking control framework that provides adequate motion commands to the robotic steerable catheter for autonomous navigation through vascular lumens. The proposed work implements a catheter kinematic model featuring nonholonomic constraints. Relying on the real-time measurements from an electromagnetic sensor and a fiber Bragg grating sensor, a two-level feedback controller was designed to control the catheter.

Results

The proposed method was tested in a patient-specific vessel phantom. A median position error between the center line of the vessel and the catheter tip trajectory was found to be below 2 mm, with a maximum error below 3 mm. Statistical testing confirmed that the performance of the proposed method exhibited no significant difference in both free space and the contact region.

Conclusion

The preliminary in vitro studies presented in this paper showed promising accuracy in navigating the catheter within the vessel. The proposed approach enables autonomous control of a steerable catheter for transcatheter cardiology interventions without the request of calibrating the intuitive parameters or acquiring a training dataset.

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Title: Path tracking control of a steerable catheter in transcatheter cardiology interventions
Authors: Xiu Zhang
Aditya Sridhar
Xuan Thao Ha
Syed Zain Mehdi
Andrea Fortuna
Mattia Magro
Angela Peloso
Anna Bicchi
Mouloud Ourak
Andrea Aliverti
Emiliano Votta
Emmanuel Vander Poorten
Elena De Momi
Publication date: 22-02-2024
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 4/2024
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-024-03069-3

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Path tracking control of a steerable catheter in transcatheter cardiology interventions

Abstract

Purpose

Methods

Results

Conclusion

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusion

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