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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2024

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Cited by 2 publications

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An anthropomorphic phantom for atrial transseptal puncture simulation training

Zeidan,

Xu,

Leung

et al. 2024

3D Print Med

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Background Transseptal puncture (TSP) is a critical prerequisite for left-sided cardiac interventions, such as atrial fibrillation (AF) ablation and left atrial appendage closure. Despite its routine nature, TSP can be technically demanding and carries a risk of complications. This study presents a novel, patient-specific, anthropomorphic phantom for TSP simulation training that can be used with X-ray fluoroscopy and ultrasound imaging. Methods The TSP phantom was developed using additive manufacturing techniques and features a replaceable fossa ovalis (FO) component to allow for multiple punctures without replacing the entire model. Four cardiologists and one cardiology trainee performed TSP on the simulator, and their performance was assessed using four metrics: global isotropy index, distance from the centroid, time taken to perform TSP, and a set of 5-point Likert scale questions to evaluate the clinicians’ perception of the phantom’s realism and utility. Results The results demonstrate the simulator’s potential as a training tool for interventional cardiology, providing a realistic and controllable environment for clinicians to refine their TSP skills. Experienced cardiologists tended to cluster their puncture points closer to regions of the FO associated with higher global isotropy index scores, indicating a relationship between experience and optimal puncture localization. The questionnaire analysis revealed that participants generally agreed on the phantom’s realistic anatomical representation and ability to accurately visualize the TSP site under fluoroscopic guidance. Conclusions The TSP simulator can be incorporated into training programs, offering trainees the opportunity to improve tool handling, spatial coordination, and manual dexterity prior to performing the procedure on patients. Further studies with larger sample sizes and longitudinal assessments are needed to establish the simulator’s impact on TSP performance and patient outcomes.

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An anthropomorphic phantom for atrial transseptal puncture simulation training

Zeidan,

Xu,

Leung

et al. 2024

3D Print Med

View full text Add to dashboard Cite

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

Cited by 2 publications

References 38 publications

An anthropomorphic phantom for atrial transseptal puncture simulation training

An anthropomorphic phantom for atrial transseptal puncture simulation training

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

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