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Full text release has been delayed at the author's request until May 17, 2026

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Interaction Control Under Uncertainty For an MRI-Actuated Robotic Intravascular Cardiac Catheter

Hao, Ran
http://rave.ohiolink.edu/etdc/view?acc_num=case1711035667458457

Abstract Details

2024, Doctor of Philosophy, Case Western Reserve University, EECS - Electrical Engineering.
The disturbances caused by the blood flow and beating heart motions are major concerns during catheter ablation procedures. Maintaining a stable and safe contact on the desired ablation point is essential for achieving effective lesions during the ablation procedure. This dissertation aims to provide a comprehensive solution to the interaction control problem of a novel MRI-actuated robotic intravascular cardiac catheter interacting with the beating heart surface under uncertainties, with the ultimate goal of facilitating an automated catheter ablation procedure. In this dissertation, the catheter ablation process is divided into two phases: a free landing phase and an ablation phase. First, the free-space forward dynamic modeling approaches of an MRI-actuated robotic catheter are investigated to model the robotic catheter in the free-landing phase. Two discrete-time dynamic models of the MRI-actuated robotic catheter are presented and evaluated. The first model presented is a full-body Cosserat-rod-based dynamic model based on the dynamic Cosserat-rod theory, where the dynamic Cosserat-rod PDEs and the Euler-Lagrange equation are respectively used to derive the dynamic equations of the flexible segments and rigid segments. The second model presented is a hybrid Cosserat-rod dynamic model, where the dynamic equation of the rigid segments is derived using the Euler-Lagrange equation and the shape of the flexible segments is derived using the static Cosserat-rod theory. The proposed dynamic models are compared and experimentally validated using the 3D positional trajectories collected from a catadioptric stereo tracking system. The analysis of the contact stability and contact safety of the MRI-actuated robotic catheter under beating heart motions and blow flow disturbances are presented for the ablation phase. A probabilistic formulation for modeling and evaluating the contact stability and the contact safety of the robotic intravascular cardiac catheters under blood flow disturbances and surface motion disturbances is presented. Additionally, two types of contact force optimization strategies are proposed for maintaining stable and safe catheter-tissue contact under beating heart motion disturbances during the ablation. The control of the automatic landing process of the catheter tip to achieve the desired catheter tip-tissue contact is then studied. To this end, a feed-forward landing control strategy is proposed. Specifically, an ablation phase analysis that investigates the optimal tip configuration and the timing of the landing, is presented. A reference trajectory generation algorithm generating a series of desired tip trajectories is presented. A decoupled landing control optimization is proposed for achieving the optimal tip configurations in a desired landing period. The simulation results using \textit{in vivo} heart motion data are presented to demonstrate the effectiveness and feasibility of the proposed contact force optimization and landing control approaches.
M. Cenk Cavusoglu, Dr. (Committee Chair)
Wyatt Newman, Dr. (Committee Member)
Zonghe Chua, Dr. (Committee Member)
Michael Fu, Dr. (Committee Member)
Mark Griswold, Dr. (Committee Member)
139 p.
Robotics
Robotic Catheter Ablation

Recommended Citations

Citations

  • Hao, R. (2024). Interaction Control Under Uncertainty For an MRI-Actuated Robotic Intravascular Cardiac Catheter [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1711035667458457

    APA Style (7th edition)

  • Hao, Ran. Interaction Control Under Uncertainty For an MRI-Actuated Robotic Intravascular Cardiac Catheter . 2024. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1711035667458457.

    MLA Style (8th edition)

  • Hao, Ran. "Interaction Control Under Uncertainty For an MRI-Actuated Robotic Intravascular Cardiac Catheter ." Doctoral dissertation, Case Western Reserve University, 2024. http://rave.ohiolink.edu/etdc/view?acc_num=case1711035667458457

    Chicago Manual of Style (17th edition)

case1711035667458457
© 2024, some rights reserved.Creative Commons License Interaction Control Under Uncertainty For an MRI-Actuated Robotic Intravascular Cardiac Catheter by Ran Hao is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.