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Modeling of the Flexible Instrument Inside the Vascular Environment for Its Motion Control in Minimally Invasive Procedures
, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Minimally invasive procedures are diagnostic or therapeutic methods that cause minimal injuries and side effects for patients. PCI is a common minimally invasive procedure for diagnosis and curing of cardiovascular disorders. In this procedure, the surgeon can have access to the cardiac vessels by a flexible instrument. However, motion control of this instrument inside the patient's body relies on surgeon's skills and in some cases, is time consuming so that the toxic effects of radiation on patient and surgical team increases. Magnetic flexible instruments are suggested to address this problem. Nevertheless, motion control of the flexible instrument inside the body still has many challenges...
Localization of Magnetic Catheter Tip Using an Array of Magnetic Sensors
, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Minimally invasive surgery is highly valued mainly due to the reduction of the patient’s recovery period. Catheters are among the most important tools in minimally invasive surgeries. Catheter is a flexible tool that has the ability to pass through difficult paths. In common localization methods, fluoroscopy is used to determine the position of the catheter’s tip. One main disadvantage of this method is that it is very dangerous for therapists who are exposed to X-ray radiation for long periods of time. A magnetic catheter is created by adding a magnet to the end of the catheter. The possibility of guiding magnetic catheter by an external magnetic field, controlling the applied force and...