A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation
	Gao AZ(高安柱); Liu H(刘浩); Zhou YY(周圆圆); Wang ZD(王志东); Liang M(梁明); Wang ZL(王祖禄)
刊名	IEEE Robotics and Automation Letters
	2017
卷号	2 期号:3 页码:1525-1531
关键词	Asymmetric bend contact-aided compliant mechanism path exploration steerable catheter
ISSN号	2377-3766
通讯作者	刘浩
产权排序	1
中文摘要	Electrical isolation using the ablation catheter has been widely used as the golden standard for the treatment of atrial fibrillation. Clinical practice shows that the tip orientation affects the formation of the effective lesion size. However, the traditional unidirectional or bidirectional catheter with the compliant bending shapes cannot provide great orientation capability to target the lesion paths asymmetric to the catheter's entry point. In this letter, we propose a two-dimensional (2-D) tendon-actuated asymmetric catheter to render two different bending characteristics to adapt to the special anatomy. The contact-aided compliant mechanism is adopted by designing the asymmetric blocks to form the self-collision in one lateral bending direction. Kinematics with asymmetric bends under the free bend and constraint bend are investigated. The algorithm of 3-D path exploration in the confined workspace is proposed to validate the reachability. The bending angles of two asymmetric bends are compared and the 3-D phantom study is carried out to validate its effectiveness. Results indicate that the contact-aided compliant mechanism can be integrated with the steerable catheter successfully to help form the different bending characteristics, finally improving the tip orientation capability to the specific ablation line lesions.
收录类别	EI
语种	英语
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20243]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Gao AZ,Liu H,Zhou YY,et al. A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation[J]. IEEE Robotics and Automation Letters,2017,2(3):1525-1531.
APA	Gao AZ,Liu H,Zhou YY,Wang ZD,Liang M,&Wang ZL.(2017).A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation.IEEE Robotics and Automation Letters,2(3),1525-1531.
MLA	Gao AZ,et al."A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation".IEEE Robotics and Automation Letters 2.3(2017):1525-1531.