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Abstract #2698

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

Taoming Liu1, Dominique Franson2, Nate Lombard Poirot3, Russell Jackson1, Nicole Seiberlich1,2, Mark A. Griswold1,2,4, and Murat Cenk Cavusoglu1,2

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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