Akademik Veri Yönetim Sistemi
Tiryaki M. E. (Yürütücü)
TÜBİTAK Projesi, 2232 - Yurda Dönüş Araştırma Burs Programı, 2025 - 2028
Magnetically actuated continuum robots have recently
attracted great attention in minimally invasive medical operations for the
treatment of circulatory system diseases. With the wireless force and torque
transmitting capabilities of magnetic actuation, magnetically actuated continuum
robots could eliminate the limitation of standard mechanical continuum robot
actuation methods, such as tendon-driven actuation, and could be effectively
steered in remote locations in the body. However, developing magnetic catheter
actuation systems providing safe operation in internal organs, such as the
heart, and the integration with medical imaging systems in operation rooms is still
a significant challenge due to the large sizes of magnetic actuation systems.
In this project, we propose a
novel robotic catheter actuation and imaging platform composed of a portable
high-field robotic electromagnetic actuator (EMA), a magnetically-actuated
robotic catheter, and a robot-assisted ultrasound (RAUS) imaging system to
provide a radiation-free, precise, and efficient tool for cardiovascular
interventions, particularly cardiac ablation surgeries.
We will develop a robotic
EMA system capable of steering a robotic catheter with high precision within
the cardiovascular system by generating high magnetic fields beyond the
state-of-the-art EMA systems. Then, by leveraging high-field magnetic actuation
principles and establishing new modeling and simulation techniques at high
magnetic fields, we will develop a robotic catheter system composed of
magnetically actuated concentric tubes and a robotic concentric-tube actuation
system. Next, we will create robotic control strategies for effective
cardiovascular navigation by combining the proposed robotic EMA and catheter
system. To track the proposed robotic catheter during cardiovascular
navigation, we will develop an RAUS image-based tracking method that provides
real-time, radiation-free imaging of the catheter through the apical imaging
window between chest bones. Finally, integrating a magnetic actuation system
and an ultrasound image-based tracking system, we aim to demonstrate
teleoperated navigation heart chambers to target cardiac ablation targets
through phantom experiments.
The proposed robotic
catheter platform combining magnetic actuation with ultrasound imaging will allow
for a less invasive, more precise steering of catheters, potentially reducing
procedure times and improving safety by eliminating ionizing radiation.
Moreover, this project will bring Türkiye to a leading position in medical
magnetic robotic research and increase Türkiye’s competitiveness in the medical device sector, robotics,
and artificial intelligence (AI) by establishing a high-technology medical
robotic system shaping the future of global healthcare innovation.