Development of a cardiac catheter remote control robot platform for radiofrequency ablation intervention

Jun Woo Park, Seung Joon Song, Jung Chan Lee, Hyuk Choi, Jung Joo Lee, Jaesoon Choi

Research output: Contribution to journalArticle

Abstract

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

Original languageEnglish
Pages (from-to)1417-1426
Number of pages10
JournalTransactions of the Korean Institute of Electrical Engineers
Volume60
Issue number7
Publication statusPublished - 2011 Jul 1

Fingerprint

Catheters
Remote control
Ablation
Robots
Robotics
Knobs
Manipulators
Navigation systems
Synchronization
Degrees of freedom (mechanics)
Navigation

Keywords

  • Arrhythmia
  • Cardiac catheter
  • Master-slave robot
  • Navigation
  • Teleoperation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Development of a cardiac catheter remote control robot platform for radiofrequency ablation intervention. / Park, Jun Woo; Song, Seung Joon; Lee, Jung Chan; Choi, Hyuk; Lee, Jung Joo; Choi, Jaesoon.

In: Transactions of the Korean Institute of Electrical Engineers, Vol. 60, No. 7, 01.07.2011, p. 1417-1426.

Research output: Contribution to journalArticle

Park, Jun Woo ; Song, Seung Joon ; Lee, Jung Chan ; Choi, Hyuk ; Lee, Jung Joo ; Choi, Jaesoon. / Development of a cardiac catheter remote control robot platform for radiofrequency ablation intervention. In: Transactions of the Korean Institute of Electrical Engineers. 2011 ; Vol. 60, No. 7. pp. 1417-1426.
@article{d2129a6899074f9199743ad284bb7d37,
title = "Development of a cardiac catheter remote control robot platform for radiofrequency ablation intervention",
abstract = "Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.",
keywords = "Arrhythmia, Cardiac catheter, Master-slave robot, Navigation, Teleoperation",
author = "Park, {Jun Woo} and Song, {Seung Joon} and Lee, {Jung Chan} and Hyuk Choi and Lee, {Jung Joo} and Jaesoon Choi",
year = "2011",
month = "7",
day = "1",
language = "English",
volume = "60",
pages = "1417--1426",
journal = "Transactions of the Korean Institute of Electrical Engineers",
issn = "1975-8359",
publisher = "Korean Institute of Electrical Engineers",
number = "7",

}

TY - JOUR

T1 - Development of a cardiac catheter remote control robot platform for radiofrequency ablation intervention

AU - Park, Jun Woo

AU - Song, Seung Joon

AU - Lee, Jung Chan

AU - Choi, Hyuk

AU - Lee, Jung Joo

AU - Choi, Jaesoon

PY - 2011/7/1

Y1 - 2011/7/1

N2 - Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

AB - Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

KW - Arrhythmia

KW - Cardiac catheter

KW - Master-slave robot

KW - Navigation

KW - Teleoperation

UR - http://www.scopus.com/inward/record.url?scp=79960755821&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79960755821&partnerID=8YFLogxK

M3 - Article

VL - 60

SP - 1417

EP - 1426

JO - Transactions of the Korean Institute of Electrical Engineers

JF - Transactions of the Korean Institute of Electrical Engineers

SN - 1975-8359

IS - 7

ER -