Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System.

ABSTRACT: This paper presents an iterative Jacobian-based inverse kinematics 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 the magnetic resonance imaging (MRI) scanner. The Jacobian matrix relating changes of the currents through the coils to changes of the tip position is derived using a three dimensional kinematic model of the catheter deflection. The inverse kinematics is numerically computed by iteratively applying the inverse of the Jacobian matrix. The damped least square method is implemented to avoid numerical instability issues that exist during the computation of the inverse of the Jacobian

SUBMITTER: Liu T 

PROVIDER: S-EPMC5731790 | biostudies-literature | 2017 Aug

REPOSITORIES: biostudies-literature