Feedforward Coordinate Control of a Robotic Cell Injection Catheter Article Swipe
Weyland Cheng
,
Peter K. Law
·
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.1177/0963689717720294
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.1177/0963689717720294
Remote and robotically actuated catheters are the stepping-stones toward autonomous catheters, where complex intravascular procedures may be performed with minimal intervention from a physician. This article proposes a concept for the positional, feedforward control of a robotically actuated cell injection catheter used for the injection of myogenic or undifferentiated stem cells into the myocardial infarct boundary zones of the left ventricle. The prototype for the catheter system was built upon a needle-based catheter with a single degree of deflection, a 3-D printed handle combined with actuators, and the Arduino microcontroller platform. A bench setup was used to mimic a left ventricle catheter procedure starting from the femoral artery. Using Matlab and the open-source video modeling tool Tracker, the planar coordinates ( y, z) of the catheter position were analyzed, and a feedforward control system was developed based on empirical models. Using the Student’s t test with a sample size of 26, it was determined that for both the y- and z-axes, the mean discrepancy between the calibrated and theoretical coordinate values had no significant difference compared to the hypothetical value of µ = 0. The root mean square error of the calibrated coordinates also showed an 88% improvement in the z-axis and 31% improvement in the y-axis compared to the unmodified trial run. This proof of concept investigation leads to the possibility of further developing a feedfoward control system in vivo using catheters with omnidirectional deflection. Feedforward positional control allows for more flexibility in the design of an automated catheter system where problems such as systemic time delay may be a hindrance in instances requiring an immediate reaction.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1177/0963689717720294
- https://journals.sagepub.com/doi/pdf/10.1177/0963689717720294
- OA Status
- gold
- Cited By
- 5
- References
- 26
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2755636709
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2755636709Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1177/0963689717720294Digital Object Identifier
- Title
-
Feedforward Coordinate Control of a Robotic Cell Injection CatheterWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2017Year of publication
- Publication date
-
2017-08-01Full publication date if available
- Authors
-
Weyland Cheng, Peter K. LawList of authors in order
- Landing page
-
https://doi.org/10.1177/0963689717720294Publisher landing page
- PDF URL
-
https://journals.sagepub.com/doi/pdf/10.1177/0963689717720294Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://journals.sagepub.com/doi/pdf/10.1177/0963689717720294Direct OA link when available
- Concepts
-
Feed forward, Catheter, Computer science, Biomedical engineering, Medicine, Control engineering, Surgery, EngineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
5Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2023: 1, 2022: 2, 2021: 1Per-year citation counts (last 5 years)
- References (count)
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26Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| referenced_works | https://openalex.org/W2196906371, https://openalex.org/W2901618917, https://openalex.org/W2034192356, https://openalex.org/W2105180074, https://openalex.org/W2029779080, https://openalex.org/W2018383323, https://openalex.org/W2143057172, https://openalex.org/W2478845575, https://openalex.org/W2049878169, https://openalex.org/W2049549105, https://openalex.org/W2136747438, https://openalex.org/W583386638, https://openalex.org/W1968098901, https://openalex.org/W201678105, https://openalex.org/W2038377233, https://openalex.org/W1986511654, https://openalex.org/W2169181513, https://openalex.org/W1964770280, https://openalex.org/W2002651411, https://openalex.org/W2114686870, https://openalex.org/W2613179661, https://openalex.org/W96522848, https://openalex.org/W2036453033, https://openalex.org/W2011963952, https://openalex.org/W3023525806, https://openalex.org/W2168455524 |
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