전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제60권7호
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  • Pages.1417-1426
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  • 2011
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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고주파 절제술을 위한 심장전극도자 원격 제어 로봇 플랫폼의 개발

Development of a Cardiac Catheter Remote Control Robot Platform for Radiofrequency Ablation Intervention

  • 박준우 (고려대 의대 의공학교실, 고려대 의대 한국인공장기센터) ;
  • 송승준 (고려대 의대 협동과정의생체공학) ;
  • 이정찬 (서울대 의학연구원 의용생체공학연구소) ;
  • 최혁 (고려대 구로병원 의료기기임상시험센터) ;
  • 이정주 (고려대 의대 한국인공장기센터) ;
  • 최재순 (고려대 의대 한국인공장기센터)
  • 투고 : 2010.11.24
  • 심사 : 2011.05.11
  • 발행 : 2011.07.01
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초록

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

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참고문헌

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