Position Control of Motion Compensation Cardiac Catheters

Positive torque control cardiac catheters.

Compensation of Respiratory Motion in Cardiac Imaging

Motion Estimation Model for Cardiac and Respiratory Motion Compensation

Catheter ablation is widely accepted as the best remaining option for the treatment of atrial fibrillation if drug therapy fails. Ablation procedures can be guided by 3-D overlay images projected onto live fluoroscopic X-ray images. These overlay images are generated from either MR, CT or C-Arm CT volumes. As the alignment of the overlay is often compromised by cardiac and respiratory motion, m...

Position and Force Control by Reaction Compensation

The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the...

Robotic Control of Ultrasound Catheters for Intra-cardiac Visualization

Imaging catheters can provide real time imaging from within the heart, but manual navigation is difficult and requires extensive training. This study focuses on the first examples of automatically pointing ultrasound (US) catheters (frequently referred to as intracardiac echocardiography, or ICE) in in vivo animal studies. US catheters feature an US transducer at the tip for imaging cardiac str...