Magnetic and robotic catheter navigation

Miller, John M.; Dixon, Mark A.; Bhakta, Deepak; Jain, Rahul; Das, Mithilesh K.

doi:10.1002/9781118658369.ch08

Cited by 2 publications

(4 citation statements)

References 22 publications

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“…Remotely controlled robotic catheter systems that have undergone clinical trials or are commercially available include the Niobe® magnetic navigation system and the Vdrive® robotic navigation system (Stereotaxis), the Sensei®< robotic system and the Magellan® robotic system (Hansen Medical, Mountain View, CA, USA), the CorPath® system (Corindus Vascular Robotics, Natick, MA, USA), the Amigo® (Catheter Robotics, Budd Lake, NJ, USA), and the catheter guidance control and imaging (CGCI) system (Magnetecs, Inglewood, CA, USA) 3345 . Remotely controlled catheters may be separated into two categories: magnetic and active catheters.…”

Section: Catheter Systemsmentioning

confidence: 99%

“…If the contact force exceeds a certain limit (typically 30 g), catheter advancement is prevented, and the physician is alerted through an optical alarm displayed on the user interface, thereby preventing perforation. Knowledge of the catheter tip contact force also assists in improving the efficacy of the operation through enhancing the intracardiac mapping accuracy and ensuring dense ablation lesions 34,36-39 .…”

Section: Catheter Systemsmentioning

confidence: 99%

See 1 more Smart Citation

Conceptual Design and Procedure for an Autonomous Intramyocardial Injection Catheter

Cheng

Law

2017

Cell Transplant

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This article discusses existing catheter systems and proposes a conceptual design and procedure for an autonomous cell injection catheter for the purpose of transferring committed myogenic or undifferentiated stem cells into the infarct boundary zones of the left ventricle. Operation of existing catheters used for cell delivery is far from optimal. Commercial injection catheters available are handheld devices operated manually by means of tip deflection and torque capabilities. Interventionists require a hefty learning curve and often encounter difficulties in catheter stabilization and infarct detection, resulting in lengthy operation times and nonprecise injections. We examined current technologies and proposed a design incorporating robotic positional control, feedback signals, and an adaptable operational sequence to overcome these problems. The design provides the basis for robotic catheter construction that is able to autonomously assist the physician in transferring myogenic cells to the left ventricle infarct boundary zones.

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Section: Catheter Systemsmentioning

confidence: 99%

Section: Catheter Systemsmentioning

confidence: 99%

Conceptual Design and Procedure for an Autonomous Intramyocardial Injection Catheter

Cheng

Law

2017

Cell Transplant

View full text Add to dashboard Cite

show abstract

“…There is a developing technology that involves the use of remotely controlled magnetic and active catheters, where physicians may perform catheterization procedures from a distance or at a separate workstation. 2 – 16 …”

Section: Introductionmentioning

confidence: 99%

“…Remote catheter systems that use robotic actuators to manipulate catheters include the Magellan Robotic System as well as the Artisan® Extend Control catheter combined with a robotic catheter manipulator (RCM; Hansen Medical, Mountain View, CA, USA), the CorPath system (Corindus Vascular Robotics, Natick, MA, USA), Amigo (Catheter Robotics, Mount Olive, NJ, USA), and the Vdrive® Robotic Navigation System (Stereotaxis, St. Louis, MO, USA). 4 , 5 , 9 – 16 These robotic devices are capable of maneuvering operating catheters through guidewires linearly during operation and some are also capable of catheter tip deflection through actuating pull wires. Although these systems allow for remote control, a step further for optimizing catheter procedures would be to incorporate automated control where a microcontroller performs parts of the operation using feedback sensors, translating feedback signals into actuator movement.…”

Section: Introductionmentioning

confidence: 99%

Feedforward Coordinate Control of a Robotic Cell Injection Catheter

Cheng

Law

2017

Cell Transplant

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Remote and robotically actuated catheters are the stepping-stones toward autonomous catheters, where complex intravascular procedures may be performed with minimal intervention from a physician. This article proposes a concept for the positional, feedforward control of a robotically actuated cell injection catheter used for the injection of myogenic or undifferentiated stem cells into the myocardial infarct boundary zones of the left ventricle. The prototype for the catheter system was built upon a needle-based catheter with a single degree of deflection, a 3-D printed handle combined with actuators, and the Arduino microcontroller platform. A bench setup was used to mimic a left ventricle catheter procedure starting from the femoral artery. Using Matlab and the open-source video modeling tool Tracker, the planar coordinates (y, z) of the catheter position were analyzed, and a feedforward control system was developed based on empirical models. Using the Student’s t test with a sample size of 26, it was determined that for both the y- and z-axes, the mean discrepancy between the calibrated and theoretical coordinate values had no significant difference compared to the hypothetical value of µ = 0. The root mean square error of the calibrated coordinates also showed an 88% improvement in the z-axis and 31% improvement in the y-axis compared to the unmodified trial run. This proof of concept investigation leads to the possibility of further developing a feedfoward control system in vivo using catheters with omnidirectional deflection. Feedforward positional control allows for more flexibility in the design of an automated catheter system where problems such as systemic time delay may be a hindrance in instances requiring an immediate reaction.

show abstract

Magnetic and robotic catheter navigation

Cited by 2 publications

References 22 publications

Conceptual Design and Procedure for an Autonomous Intramyocardial Injection Catheter

Conceptual Design and Procedure for an Autonomous Intramyocardial Injection Catheter

Feedforward Coordinate Control of a Robotic Cell Injection Catheter

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