This paper introduces a real-time path optimization and control strategy for shape memory alloy (SMA) actuated cardiac ablation catheters, potentially enabling the creation of more precise lesions with reduced procedure times and improved patient outcomes. Catheter tip locations and orientations are optimized using parallel genetic algorithms to produce continuous ablation paths with near normal tissue contact through physician-specified points. A nonlinear multivariable control strategy is presented to compensate for SMA hysteresis, bandwidth limitations, and coupling between system inputs. Simulated and experimental results demonstrate efficient generation of ablation paths and optimal reference trajectories. Closed-loop control of the SMA-actuated catheter along optimized ablation paths is validated experimentally.

中文翻译：

---

心内膜射频消融用形状记忆合金驱动导管的路径优化与控制

本文介绍了形状记忆合金 (SMA) 驱动的心脏消融导管的实时路径优化和控制策略，有可能在减少手术时间和改善患者预后的情况下创建更精确的病变。使用并行遗传算法优化导管尖端位置和方向，以通过医生指定的点产生具有接近正常组织接触的连续消融路径。提出了一种非线性多变量控制策略来补偿 SMA 滞后、带宽限制和系统输入之间的耦合。模拟和实验结果证明了消融路径和最佳参考轨迹的有效生成。通过实验验证了 SMA 驱动导管沿优化消融路径的闭环控制。