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Related Concept Videos

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When the neuron of a motor unit fires an action potential, it triggers a series of events, leading to a twitch contraction in the muscle fibers. The process of excitation-contraction coupling is crucial in relaying the action potential to the muscle fibers.
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Related Experiment Video

Updated: Jan 17, 2026

Author Spotlight: Revolutionizing Remote Surgery with Augmented Reality and Robotics for Enhanced Precision and Accessibility
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Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization.

Weizhao Wang1, Zicong Wu1, Carlo Saija1

  • 1School of Biomedical Engineering and Imaging Sciences, King's College London, WC2R 2LS London, U.K.

IEEE Robotics and Automation Letters
|September 24, 2025
PubMed
Summary

This study introduces a universal catheter actuation module and a two-curvature with pseudo joints (TC-PJ) model for precise catheter navigation in heart valve disease treatment. The system enhances catheter control and positioning accuracy, improving safety and efficacy.

Keywords:
Kinematicsactuation and joint mechanismscontrollearning for soft robotsmodeling

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Area of Science:

  • Biomedical Engineering
  • Medical Devices
  • Robotics

Background:

  • Catheters are crucial for treating heart valve diseases but face challenges in safe delivery and positioning due to varied handle structures and bending curvatures.
  • Existing catheter systems often lack universal adaptability and precise control mechanisms, complicating complex medical procedures.

Purpose of the Study:

  • To design and validate a universal actuation module for catheter handles, enabling adaptable clamping and precise positioning.
  • To develop and evaluate a novel two-curvature with pseudo joints (TC-PJ) kinematic model for enhanced catheter bending control.

Main Methods:

  • A coaxial actuation module with a universal chuck (15-45 mm diameter) and adjustable shaft was designed.
  • A two-curvature (TC) model was compared against pseudo-rigid-body (PRB), constant curvature (CC), and Euler spiral (ES) models for planar bending simulation.
  • The TC-PJ model was tested on five catheters, analyzing tip positioning precision (RMSE, SD) considering torsion and shear strain.

Main Results:

  • The TC model demonstrated superior shape representation compared to PRB, CC, and ES models.
  • The actuation module showed universal clamping suitability across tested catheters.
  • The TC-PJ model achieved an average tip position RMSE of 0.65 mm and direction RMSE of 0.23 degrees in free space, with variations based on catheter complexity.

Conclusions:

  • The developed actuation module and TC-PJ kinematic model offer universal manipulation capabilities for catheters.
  • The system provides enhanced tip positioning precision, addressing complexities in catheter delivery and control for cardiovascular interventions.
  • This innovation has the potential to improve the safety and effectiveness of catheter-based treatments for heart valve diseases.