Position Control of Motion Compensation Cardiac Catheters

Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the fast motion of cardiac tissue using 3-D ultrasound image guidance. We describe the design and operation of the mechanical drive system and catheter module and analyze the catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose and evaluate mechanical and control-system compensation methods, which include inverse and model-based backlash compensation, to improve the system performance. Finally, in vivo results are presented, which demonstrate that the catheter can track the cardiac tissue motion with less than 1-mm rms error. The ultimate goal of this research is to create a fast and dexterous robotic catheter system that can perform surgery on the delicate structures inside of the beating heart.Engineering and Applied Science

Modeling aquifer-river interactions under the influence of groundwater abstraction in the Mancha Oriental System (SE Spain)

The Mancha Oriental System (MOS, 7,260 km2) is one of the largest aquifers within Spain, and is encompassed by the Jucar River Basin. Over the past 30 years, socioeconomic development within the region has been largely due to intensive use of groundwater resources for irrigating crops (1,000 km2). Groundwater pumping (406 million m3/year) has provoked a steady drop in the groundwater level and a reduction of MOS discharge to the Jucar River. The study aims to characterize the river-aquifer relationship, to determine the influence that groundwater abstraction has on the river discharge. This research has advanced a three-dimensional large-scale numerical groundwater-flow model (MODFLOW 2000) in order to spatially and temporally evaluate, quantify and predict the river-aquifer interactions that are influenced by groundwater abstraction in MOS. It is demonstrated that although groundwater abstraction increased considerably from the early 1980s to 2000, the depletion of water stored in the aquifer was lower than might be expected. This is mainly due to aquifer recharge from the Jucar River, induced by groundwater abstraction. The area of disconnection between the river and the water table (i. e. where groundwater head is lower than the riverbed) is found to have spread 20km downstream from its position before pumping started. © 2010 Springer-Verlag.This study was funded by the Spanish Government under research grant CGL2008-06394-C02-02/BTE. Special thanks go to the Jucar Water Authority (CHJ) and stakeholders (JCRMO) in the Mancha Oriental System for providing the information necessary. The content of this report does not represent the view of CHJ and JCRMO.Sanz, D.; Castano, S.; Cassiraga ., EF.; Sahuquillo Herráiz, A.; Gomez-Alday, J.; Peña Haro, S.; Calera, A. (2011). 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