Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances
Ran Hao, Nate Lombard Poirot, M. Cenk Çavuşoğlu
Abstract
This paper studies the contact stability and contact safety of a robotic intravascular cardiac catheter under blood flow disturbances while in contact with tissue surface. A probabilistic blood flow disturbance model, where the blood flow drag forces on the catheter body are approximated using a quasi-static model, is introduced. Using this blood flow disturbance model, probabilistic contact stability and contact safety metrics, employing a sample based representation of the blood flow velocity distribution, are proposed. Finally, the contact stability and contact safety of a MRI-actuated robotic catheter are analyzed using these models in a specific example scenario under left pulmonary inferior vein (LIV) blood flow disturbances.
BibTeX
@inproceedings{iros2020_analysisofcontac,
title = {Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances},
author = {Ran Hao and Nate Lombard Poirot and M. Cenk Çavuşoğlu},
booktitle = {IROS 2020},
year = {2020}
}