Rate Dependent Prandtl-Ishlinskii (RDPI) Model based motion compensation of Mitraclip(r) Delivery System

Abstract:
Mitral Valve regurgitation is a heart condition where the mitral valve doesn’t close properly, causing backward blood flow. Transcatheter Edge to Edge Repair (TEER) with Mitraclip(r) is used for treating this condition. Efforts are underway to robotize this process however, the Mitraclip(r) cable-driven actuation of the instrument causes friction-related deadband and hysteresis during bending and translation. These complexities are compounded by the beating heart. This paper focuses on investigating and addressing hysteresis that arises during Clip Delivery System (CDS) translation inside a Steerable Sleeve Catheter (SSC) of the Mitraclip instrument. Rate-dependent Prandtl-Ishlinskii (RDPI) model has been used for modeling and compensating for these non linearities. The performance of the model in combination with a feed-forward controller against varying signals and different bending configurations is reported, showing better tracking performance and reduced error.