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Robotic cardiac catheterization using ultrasound (US) imaging catheters provides real time imaging from within the heart while reducing the difficulty in manually steering a four degree-of-freedom (4-DOF) catheter. Accurate robotic catheter navigation in the heart is challenging due to a variety of disturbances including cyclical physiological motions, such as respiration. In this work we compensate...
A system for automatically pointing ultrasound (US) imaging catheters will enable clinicians to monitor anatomical structures and track instruments during interventional procedures. Off-the-shelf US catheters provide high-quality US images from within the patient. While this method of imaging has been proven to be effective for guiding many interventional treatments, significant training is required...
Intracardiac echocardiography (ICE) catheters enable high-quality ultrasound imaging within the heart, but their use in guiding procedures is limited due to the difficulty of manually pointing them at structures of interest. This paper presents the design and testing of a catheter steering model for robotic control of commercial ICE catheters. The four actuated degrees of freedom (4-DOF) are two catheter...
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