Sensorless force control for transeopagel echocardiography probe

Abstract

A robotic actuation system for sensorless force control of an interventional tool (14) having cable driven distal end (e.g., a probe, a steerable catheter, a guidewire and a colonoscope). The system employs a robotic actuator (30) having one or more motorized gears operate the cable drive of the interventional tool (14). The system further employs a robotic workstation (20) to generate motor commands for simultaneous actuation position and contact force control of the interventional tool (14). The motor commands are a function of an actuation position measurement and a motor current measurement of the at least one motorized gear for a desired actuation position of the interventional tool (14).

Description

technical field [0001] The present invention relates generally to transesophageal echocardiography ("TEE") probes. The present invention particularly relates to sensorless force control of TEE probes during interventional procedures. Background technique [0002] Transesophageal echocardiography is often used to visualize cardiac anatomy and interventional devices during treatment for structural heart disease ("SHD"). Figure 1 shows a typical distribution of operating room staff within a laboratory 10 with an ultrasound workstation 11 and an X-ray scanner (its C-arm 12 is shown). During an SHD procedure, an echocardiography operator 13 holds a TEE probe 14 through the mouth of a patient 16 into the esophagus to visualize the heart of the patient 16 . The cardiologist 15 is located on the opposite side of the X-ray C-arm 12 and the console 17 . The cardiologist 15 navigates interventional devices (not shown) such as catheters and guide wires from the arterial incision into...

AI Technical Summary

Problems solved by technology

This can cause failure and poor visualization for the echocardiography operator 13 during the long procedure

[0004] The second challenge is X-ray exposure

[0005] The third challenge is communication and visualization

Given the difficulty of interpreting 3D ultrasound volumes and the different coordinate systems displayed by the X-ray and ultrasound systems, it can be challenging for the echocardiography operator 13 to understand the cardiologist's 15 intent

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