Positive Torque Control Cardiac Catheters

Positive torque control cardiac catheters.

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...

Motion control systems with H∞ positive joint torque feedback

Positive joint torque feedback (JTF) can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) nonideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. In this work, a new joint torque feedback approach is proposed which takes into account the actuator’s ...

Robotic Steering of Cardiac Ultrasound Imaging Catheters

corresponding tip and imaging plane motions Robotic Steering of Cardiac Ultrasound Imaging Catheters L.J. Brattain, P.M. Loschak, C.M. Tschabrunn, E. Anter, R.D. Howe Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA MIT Lincoln Laboratory, Lexington, MA, USA Harvard-Thorndike Electrophysiology Institute, Beth Israel Deaconess Medical Center, Harvard Medical School, Boston,...

Automatic Steering of Cardiac Imaging Catheters

A robotic system for automatically steering cardiac imaging catheters enables enhanced visualization of anatomical structures and working instruments during catheter-based procedures. This system is comprised of several components for manipulating imaging catheters, sensing and control, user interface, and image collection and processing. Developments in each of these components have enabled th...