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Haptics enabled robot-assisted activ...

The University of Western Ontario (Canada).

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Haptics enabled robot-assisted active catheter insertion.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Haptics enabled robot-assisted active catheter insertion./
Author:	Jagadeesan, Jayender.
Description:	211 p.
Notes:	Source: Dissertation Abstracts International, Volume: 69-05, Section: B, page: 3178.
Contained By:	Dissertation Abstracts International69-05B.
Subject:	Engineering, Biomedical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=NR39286
ISBN:	9780494392867

Haptics enabled robot-assisted active catheter insertion.
Jagadeesan, Jayender.

Haptics enabled robot-assisted active catheter insertion. - 211 p.

Source: Dissertation Abstracts International, Volume: 69-05, Section: B, page: 3178.

Thesis (Ph.D.)--The University of Western Ontario (Canada), 2008.

This research project is concerned with developing robotic technology and control strategies that are capable of inserting and manipulating a flexible catheter 1-3 mm in diameter and up to 100 cm in length inside an artery for performing angioplasty. The clinician has no feedback on the force applied by the tip of the catheter on the walls of the blood vessel. Excessive pressure can rupture the blood vessel or dislodge plaque. Nearly 7% of carotid stenting procedures lead to death or ischaemic stroke within 30 days mainly due to dislodging of plaque and intra cerebral bleeding. The healthcare providers who perform the procedure using X-ray fluoroscopy over a prolonged period of time may have dangerous long-term exposure to X-ray radiation, which may lead to radiation burns and cancer.

ISBN: 9780494392867Subjects--Topical Terms:

1017684
Engineering, Biomedical.

Haptics enabled robot-assisted active catheter insertion.
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020 $a 9780494392867
035 $a (UMI)AAINR39286
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040 $a UMI $c UMI
100 1 $a Jagadeesan, Jayender. $3 1023624
245 1 0 $a Haptics enabled robot-assisted active catheter insertion.
300 $a 211 p.
500 $a Source: Dissertation Abstracts International, Volume: 69-05, Section: B, page: 3178.
502 $a Thesis (Ph.D.)--The University of Western Ontario (Canada), 2008.
520 $a This research project is concerned with developing robotic technology and control strategies that are capable of inserting and manipulating a flexible catheter 1-3 mm in diameter and up to 100 cm in length inside an artery for performing angioplasty. The clinician has no feedback on the force applied by the tip of the catheter on the walls of the blood vessel. Excessive pressure can rupture the blood vessel or dislodge plaque. Nearly 7% of carotid stenting procedures lead to death or ischaemic stroke within 30 days mainly due to dislodging of plaque and intra cerebral bleeding. The healthcare providers who perform the procedure using X-ray fluoroscopy over a prolonged period of time may have dangerous long-term exposure to X-ray radiation, which may lead to radiation burns and cancer.
520 $a In this thesis, we have micromachined a catheter with Shape Memory Alloy (SMA) actuators to provide bending at the tip of the catheter to guide it through the complex vasculature in the body. There are two major problems involved in using SMA actuators - (1), They have very low machinability; (2), they demonstrate a nonlinear hysteretic behavior, as a result of which their control is imprecise and difficult. We have developed microfabrication techniques involving laser cutting and micro-spot welding to fabricate the active catheter. In order to accurately control the strain in the SMA actuators, we have developed a model based on heat transfer dynamics, Fermi-Dirac statistics and the constitutive equation. Using this model, we have designed and implemented robust (LQR optimization based and Hinfinity ) control algorithms to precisely control the strain in the SMA actuators. These control schemes ensure accurate tracking of the reference in the presence of perturbations and in uncertain environments, as encountered in the human vasculature. The active catheter is also instrumented with a miniaturized 3-DOF sensor to measure the force acting on the tip of the catheter.
520 $a Based on the Hinfinity robust controller, we have developed a bilateral teleoperation scheme to remotely control the orientation of the active catheter while reflecting the forces acting on the catheter tip to the clinician. Delays are introduced in the control loop by the temperature dynamics of the SMA actuators and the nonlinear response of the actuator to input current. We have developed a wave variables based teleoperation algorithm to perform stable and transparent bilateral teleoperation of an active catheter. In addition, we have also designed and developed force control algorithms on the active catheter such that the catheter can autonomously maintain a certain desired force of contact or regulate the force acting on the catheter tip (compliant force control). This can be particularly useful in guiding the catheter smoothly within the body without any damage to the blood vessel by ensuring that the force acting on the catheter tip is minimized.
520 $a In order to prevent the clinician from being exposed to harmful X-rays, we have designed and implemented force/position control (Augmented Hybrid Impedance Control) algorithms and tested them on a Mitsubishi 7-DOF robot to perform remote robot-assisted catheter insertion. The AHIC scheme applied to the robot controls the force of insertion and prevents buckling of the catheter by regulating the moments in the orthogonal directions, while controlling the position of the end-effector in Cartesian space. In this thesis, we have shown that it is possible to perform catheter insertion far more accurately than manually possible due to the precise control over the force of insertion. In addition, this approach also prevents exposure of the clinician to harmful X-ray radiation and provides him/her with an ergonomic position from which to perform robot-assisted catheter insertion.
520 $a Novel image processing algorithms have been developed to track the catheter tip in real time as the catheter advances within the vasculature. We have developed a completely autonomous algorithm to insert the catheter into the body based on image guidance. A Finite State Machine (FSM) has been designed to control the stroke length of insertion of the robot and the bending angle of the catheter, based on the position of the distal end of the catheter, while the clinician provides the initial and final destination in a GUI and maintains supervisory control over the entire procedure.
520 $a An experimental test-bed for performing haptics-enabled master-slave catheter insertion has also been developed. The dynamics of inserting a catheter into the vasculature is highly complex due to the flexing of the catheter resulting from frictional forces (static and dynamic) and spring-like forces acting along the length of the catheter. We have developed a wave variable based bilateral teleoperation algorithm to compensate for time delays and various nonlinear effects occurring during catheter insertion to provide the clinician with a fatigue-free transparent experience. (Abstract shortened by UMI.)
590 $a School code: 0784.
650 4 $a Engineering, Biomedical. $3 1017684
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Health Sciences, Medicine and Surgery. $3 1017756
690 $a 0541
690 $a 0544
690 $a 0564
690 $a 0771
710 2 $a The University of Western Ontario (Canada). $3 1017622
773 0 $t Dissertation Abstracts International $g 69-05B.
790 $a 0784
791 $a Ph.D.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=NR39286