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Modeling Non-linear Effects in a 4-DoF Robotic Transcatheter Delivery System.

Namrata U Nayar1, Jaydev P Desai1

  • 1Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.

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Summary
This summary is machine-generated.

This study models a robotic system for transcatheter mitral valve repair (TMVr) to improve precision and reduce radiation exposure. The robotically steerable system aims to overcome limitations of current manual TMVr devices.

Keywords:
Medical robotic systemcatheter configurationflexible tendon-sheath mechanismfriction and hysteresismodeling and verificationtendon elongation

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Area of Science:

  • Robotics in Medicine
  • Minimally Invasive Surgery
  • Cardiovascular Interventions

Background:

  • Transcatheter mitral valve repair (TMVr) offers a minimally invasive option for mitral regurgitation (MR), especially for non-surgical candidates.
  • Current TMVr systems are manually operated, leading to significant radiation exposure for staff and limiting remote surgical possibilities.
  • Enhanced precision, consistency, and reduced fatigue are desired for TMVr procedures.

Purpose of the Study:

  • To develop and model a full-scale robotically steerable transcatheter delivery system for TMVr.
  • To address limitations of manual TMVr operation, including radiation exposure and feasibility of telesurgery.
  • To create a system model that accounts for complex mechanical factors inherent in steerable catheters.

Main Methods:

  • Modeling a robotically steerable transcatheter delivery system for TMVr.
  • Incorporating hysteresis, friction, tendon elongation, and catheter configuration into the system model.
  • Accounting for joint coupling and the influence of catheter configuration on joint behavior.
  • Experimental validation in free air under simulated TMVr tortuosity.

Main Results:

  • A comprehensive model of a robotically steerable transcatheter delivery system was developed.
  • The model accounts for critical factors like hysteresis, friction, and tendon elongation.
  • Experimental validation confirmed the model's accuracy under realistic procedural conditions.

Conclusions:

  • A validated robotic system model can enhance precision and reduce radiation in transcatheter mitral valve repair.
  • This robotic approach has the potential to enable telesurgery and improve procedural consistency.
  • Further development of such systems is crucial for advancing minimally invasive cardiovascular interventions.