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Taoming_Dissertation.pdf (104.13 MB)

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A MAGNETICALLY-ACTUATED ROBOTIC CATHETER FOR ATRIAL FIBRILLATION ABLATION UNDER REAL-TIME MAGNETIC RESONANCE IMAGING GUIDANCE

Liu, Taoming
http://rave.ohiolink.edu/etdc/view?acc_num=case1484654444253783

Abstract Details

2017, Doctor of Philosophy, Case Western Reserve University, EECS - Electrical Engineering.
This thesis focuses on design, modeling, and analysis of a magnetically actuated robotic intravascular catheter for performing atrial fibrillation ablation under magnetic resonance imaging guidance. Specifically: A three dimensional deflection model of a steerable catheter in free space is proposed and experimentally validated using a hardware prototype. In the proposed method, the catheter is modeled as a series of finite segments. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using the beam theory. By using the deflection displacements and torsion angles, the kinematic model of the catheter is derived. A Jacobian-based iterative inverse kinematics method for controlling the steerable catheter is presented. The repeatability and accuracy of the open-loop control of the catheter system performing complex geometric trajectories using this inverse kinematics method is experimentally evaluated. The proposed three dimensional kinematic model is extended to incorporate the catheter-surface contact by taking contact forces and torques into account. A systematic approach to the design optimization of a magnetically-actuated steerable catheter for atrial fibrillation ablation in the left atrium, is proposed. The study investigates the relationship between the catheter material and the catheter's steering performance and evaluates the design optimization of the electromagnetic coils, such as the optimal winding turns for the coils, the optimal size for the side coils and the optimal locations of the coil sets on the catheter. The selected design is validated on a simulated atrial fibrillation ablation in a realistic left atrium model. The simulation verifies that the catheter is successfully able to reach every target on the circumferential lesions.
Murat Cavusoglu, Dr. (Committee Chair)
Wyatt Newman, Dr. (Committee Member)
Mark Griswold, Dr. (Committee Member)
Vira Chankong, Dr. (Committee Member)
Francis Merat, Dr. (Committee Member)
168 p.
Robotics; Robots
Robotic Catheter; Magnetically-Actuated Catheter; Atrial Fibrillation Ablation; Real-time MRI Guidance; Robotic Intravascular Catheter; Catheter Deflection Model; Iterative Inverse Kinematics; Catheter-Surface Contact Model; Catheter Design Optimization

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Citations

  • Liu, T. (2017). A MAGNETICALLY-ACTUATED ROBOTIC CATHETER FOR ATRIAL FIBRILLATION ABLATION UNDER REAL-TIME MAGNETIC RESONANCE IMAGING GUIDANCE [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1484654444253783

    APA Style (7th edition)

  • Liu, Taoming. A MAGNETICALLY-ACTUATED ROBOTIC CATHETER FOR ATRIAL FIBRILLATION ABLATION UNDER REAL-TIME MAGNETIC RESONANCE IMAGING GUIDANCE. 2017. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1484654444253783.

    MLA Style (8th edition)

  • Liu, Taoming. "A MAGNETICALLY-ACTUATED ROBOTIC CATHETER FOR ATRIAL FIBRILLATION ABLATION UNDER REAL-TIME MAGNETIC RESONANCE IMAGING GUIDANCE." Doctoral dissertation, Case Western Reserve University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1484654444253783

    Chicago Manual of Style (17th edition)

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© 2017, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.