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

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.