Autonomous Robotic Intracardiac Catheter Navigation Using Haptic Vision

Area of Science:

• Robotics
• Medical Devices
• Biomedical Engineering

Background:

• Minimally invasive procedures require precise navigation to internal sites.
• Autonomous navigation within dynamic environments like the beating heart has not been demonstrated.
• Current procedures rely on manual control, subject to human limitations.

Purpose of the Study:

• To demonstrate the feasibility of autonomous navigation for minimally invasive procedures.
• To develop and test a robotic catheter system capable of navigating the beating heart autonomously.
• To establish autonomous navigation as a foundational capability for future robotic interventions.

Main Methods:

• Development of a robotic catheter utilizing wall-following algorithms inspired by animal behavior.
• Implementation of haptic vision, a hybrid imaging and force-sensing system, for navigation.
• In vivo animal experiments to evaluate autonomous catheter performance within the heart.

Main Results:

• The autonomously controlled robotic catheter successfully navigated the beating heart.
• Performance of the autonomous system was comparable to that of experienced clinicians.
• The system demonstrated precise and repeatable tool motion independent of operator fatigue.

Conclusions:

• Autonomous navigation within the beating heart is achievable.
• Robotic catheter systems can perform complex navigation tasks with performance rivaling human experts.
• Autonomous navigation enhances procedural safety and precision, freeing clinicians for critical decision-making.