Model predictive control of a robotically actuated delivery sheath for beating heart compensation

摘要: Minimally invasive surgery (MIS) during cardiovascular interventions reduces trauma and enables the treatment of high-risk patients who were initially denied surgery. However, restricted access, reduced visibility control instrument at locations limits performance capabilities such MIS. Therefore, demand for technology as steerable sheaths or catheters that assist clinician procedure is increasing. In this study, we present evaluate a robotically actuated delivery sheath (RADS) capable autonomously accurately compensating beating heart motions by using model-predictive (MPC) strategy. We develop kinematic models online ultrasound segmentation RADS are integrated with MPC As case use pre-operative images from patient to extract motion profiles aortic valve (AHV). This allows strategy anticipate AHV motions. Further, mechanical hysteresis in steering mechanism compensated order improve tip positioning accuracy. The novel system controlling articulating Experiments demonstrate follows mean error 1.68 mm. presented modelling, imaging framework could be adapted applied range continuum-style robots various interventions.