Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

Zeidan, Aya Mutaz; Xu, Zhouyang; Mower, Christopher E.; Wu, Honglei; Walker, Quentin; Ayoade, Oyinkansola; Cotic, Natalia; Behar, Jonathan; Williams, Steven; Arujuna, Aruna; Noh, Yohan; Housden, Richard; Rhode, Kawal

doi:10.1109/icra48891.2023.10160254

2023 IEEE International Conference on Robotics and Automation (ICRA) 2023

DOI: 10.1109/icra48891.2023.10160254

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Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

Aya Mutaz Zeidan,

Zhouyang Xu,

Christopher E. Mower

et al.

Abstract: If citing, it is advised that you check and use the publisher's definitive version for pagination, volume/issue, and date of publication details. And where the final published version is provided on the Research Portal, if citing you are again advised to check the publisher's website for any subsequent corrections.

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CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System

Xu,

Zeidan,

et al. 2024

Robotics

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Atrial fibrillation, the most prevalent cardiac arrhythmia, is treated by catheter ablation to isolate electrical triggers. Clinical trials on robotic catheter systems hold promise for improving the safety and efficacy of the procedure. However, expense and proprietary designs hinder accessibility to such systems. This paper details an open-source, modular, three-degree-of-freedom robotic platform for teleoperating commercial ablation catheters through joystick navigation. We also demonstrate a catheter-agnostic handle interface permitting customization with commercial catheters. Collaborating clinicians performed benchtop targeting trials, comparing manual and robotic catheter navigation performance. The robot reduced task duration by 1.59 s across participants and five trials. Validation through mean motion jerk analysis revealed 35.2% smoother robotic navigation for experts (≥10 years experience) compared to the intermediate group. Yet, both groups achieved smoother robot motion relative to the manual approach, with the experts and intermediates exhibiting 42.2% and 13.6% improvements, respectively. These results highlight the potential of this system for enhancing catheter-based procedures. The source code and designs of CardioXplorer have been made publicly available to lower boundaries and drive innovations that enhance procedure efficacy beyond human capabilities.

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CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System

Xu,

Zeidan,

et al. 2024

Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

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Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

Cited by 1 publication

References 38 publications

CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System

CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System

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