Using Soft Robotic Technology to Fabricate a Proof‐of‐Concept Transcatheter Tricuspid Valve Replacement (TTVR) Device

Abstract

Soft robotics is an emerging field that uses the large reversible strain and non-linear behavior of elastomers to perform sophisticated tasks that would otherwise be impossible or very complex and expensive to do with traditional hard robotic components. [1,2] The use of these "smart" materials allows the fabrication of robotic systems with fewer auxiliary sensors and feedback loops. One class of soft robotic actuators is elastomeric structures powered by pressurized fluids. [3][4][5][6][7][8][9][10][11][12] These types of soft robots have been shown in the form factor of a gripper, [13] tentacle, [14,15] and rehabilitation glove. [16,17] These soft fluid actuators are of particular interest for biomedical applications because they are lightweight, inexpensive, easily fabricated, distribute forces easily, and can provide non-linear motion with Soft robotic technology has great potential for advancing the performance of transcatheter cardiac devices, due to its inherent properties for conformability and simple actuation. This work provides a proof-of-concept tricuspid valve that can be delivered via a catheter and made with soft balloons in order to avoid critical anatomical features in the tricuspid valve and to enhance anchoring. This soft valve is inflatable and thus can be repositioned during delivery to conform and anchor well to the native anatomy. Using a 3D printed model of the tricuspid valve, which is segmented from a patient CT scan, the anchoring force, functionality of the valve, and prevention of paravalvular leakage are demonstrated. Inflatable Heart Valve

Multilayer fabrication of durable catheter-deployable soft robotic sensor arrays for efficient left atrial mapping

“…The SRSAs were fabricated using a method that allows for creation of actuators with arbitrary 2D complexity, based on laser cutting and subsequent heat-pressed assembly of TPU and sacrificial poly vinyl alcohol (PVA) films, described elsewhere (20,22,27,28). We coupled this with 3D assembly of various 2D actuator patterns to yield the 3D soft actuator cage used in our design.…”

Microneedle Patterning of 3D Nonplanar Surfaces on Implantable Medical Devices Using Soft Lithography

“…We applied microneedle-patterning to a proof-of-concept soft robotic implantable polyurethane stent (Figure 2) [29,30]. The fabrication of the stent itself is discussed in further detail elsewhere [29] and only briefly here: The TPU sheets and water-soluble polyvinyl alcohol (PVA) films were laser-cut (VLS 2.30, Universal Laser Systems, Scottsdale, AZ, USA) into hexagonal-hole arrays. The stent was designed to have a 19 mm diameter based on the size of the typical porcine aorta.…”

Fluidic enabled bioelectronic implants: opportunities and challenges

“…84 Similarly, for implants placed internally within organs, for example inside the heart or blood vessels, the use of fluidic shape actuation enables implants that expand to conform to the internal structure (Figure 3(b-c)). 85,86,91,92 These types of devices utilise photolithography to fabricate the electrical interface on thinfilm biocompatible polymers, such as parylene-c or polyimide. 8486 The fluidic actuators are made from thin-film biocompatible polymers, such as silicones and TPU, and can be thermally bonded using laser cutting to weld multiple layers together to form an actuator.…”

“…3(b and c)). [85][86][87][88] These types of devices utilise photolithography to fabricate the electrical interface on thin-film biocompatible polymers, such as parylene-c or polyimide. 84,86 The fluidic actuators are made from thin-film biocompatible polymers, such as silicones and TPU, and can be thermally bonded using laser cutting to weld multiple layers together to form an actuator.…”