Home // ICAS 2023, The Nineteenth International Conference on Autonomic and Autonomous Systems // View article
Authors:
Majid Roshanfar
Pedram Fekri
Javad Dargahi
Keywords: Autonomous Catheterization; Finite Element Analysis; Steerable Catheter; Radio Frequency Ablation; Parametric Simulation
Abstract:
Catheters are thin tubes or wires made of medical-grade materials that are inserted through small incisions into the human body. In order to have a safe and effective robot-assisted radio frequency ablation, a real-time force estimator is required to measure the applied forces at the tip of the catheter. Finite element analysis can provide the real-time contact force of the steerable catheter. To do so, a nonlinear planar finite element model of the steerable catheter was first developed using parametric material properties in ANSYS software. After that, a series of finite element simulations based on each mechanical property was performed, and the deformed shape of the catheter was recorded. Next, the performance was validated by comparing the outputs of the simulation with experimental results from setup. In fact, the validation force was between the range 0 and 0.45 N that determined the material properties of the catheter. The results of the proposed finite element model were in fair agreement with reference values from the experiment. The proposed method met the requirements for autonomous cardiac ablation in terms of accuracy and speed.
Pages: 14 to 18
Copyright: Copyright (c) IARIA, 2023
Publication date: March 13, 2023
Published in: conference
ISSN: 2308-3913
ISBN: 978-1-68558-053-7
Location: Barcelona, Spain
Dates: from March 13, 2023 to March 17, 2023