Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances

Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances. Hao, R., Poirot, N. L., & Cavusoglu, M C.
abstract bibtex

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.

@article{hao_analysis_nodate,
	title = {Analysis of {Contact} {Stability} and {Contact} {Safety} of a {Robotic} {Intravascular} {Cardiac} {Catheter} under {Blood} {Flow} {Disturbances}},
	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.},
	language = {en},
	author = {Hao, Ran and Poirot, Nathaniel Lombard and Cavusoglu, M Cenk},
	pages = {8},
}

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