Abstract #2698

Control of an MRI-Guided Magnetically-Actuated Steerable Catheter System

Taoming Liu¹, Dominique Franson², Nate Lombard Poirot³, Russell Jackson¹, Nicole Seiberlich^1,2, Mark A. Griswold^1,2,4, and Murat Cenk Cavusoglu^1,2

¹Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH, United States, ²Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United States, ³Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, United States, ⁴Radiology, University of Hospitals of Cleveland, Cleveland, United States

This paper presents a Jacobian-based inverse kinematics and open-loop control method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying micro-coils embedded on the catheter tip by the magnetic field of MRI scanner. The Jacobian matrix is derived from a three dimensional kinematic continuum model of the catheter deflection. The inverse kinematics are numerically computed by iteratively applying the inverse of the Jacobian matrix. Experimental evaluation compares a catheter prototype’s desired trajectory to the actual trajectory.

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