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Compact Design and Image-Space Pose Control of a Robot for Tendon-Driven Concentric Catheters in Mitral Repair
Weizhao Wang1, Zhouyang Xu1, Aya Mutaz Zeidan1
1School of Biomedical Engineering and Imaging Sciences, King's College London, WC2R 2LS London, U.K.
IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
|September 26, 2025
Summary
A new robotic system precisely controls clip positioning during transcatheter mitral edge-to-edge repair (M-TEER). This innovation enhances accuracy in complex procedures, improving patient outcomes.
Area of Science:
- Robotics in Medicine
- Medical Device Engineering
- Minimally Invasive Surgery
Background:
- Transcatheter mitral edge-to-edge repair (M-TEER) requires precise clip placement, which is difficult with current catheter control methods.
- Existing techniques offer limited control over catheter position, direction, and orientation in the image space.
Purpose of the Study:
- To develop a robotic system for precise, closed-loop, image-space pose control of the PASCAL device during M-TEER.
- To improve the accuracy and safety of clip positioning in M-TEER procedures.
Main Methods:
- A compact eight-degree-of-freedom robot was designed to control the PASCAL device.
- A novel kinematic model incorporating catheter handle coupling and tip length variation was developed.
- A framework for independent control of clip position, direction, and orientation using a Jacobian-based PID controller was implemented.
Main Results:
- The robotic system achieved effective independent control of clip position, direction, and orientation.
- Simulations showed minimal coupling (max 2.69°) between direction and orientation adjustments.
- Experiments demonstrated significant reduction in catheter misalignment and deformation, with average RMSEs of 0.52 mm (position) and 0.61° (angle).
Conclusions:
- The developed robot offers precise image-space pose control for M-TEER.
- This system has the potential to significantly aid in achieving accurate clip positioning during M-TEER procedures.
- The precise control mitigates common challenges like catheter misalignment and deformation.
