Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures

Filgueiras‐Rama, David; Estrada, Alejandro; Shachar, Josh; Castrejón, Sergio; Doiny, David; Ortega, Marta; Gang, Eli S.; Merino, José Luís

doi:10.3791/3658-v

Cited by 7 publications

(5 citation statements)

References 3 publications

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“…The system is composed of eight electromagnets that are distributed spherically, with four arranged above and four placed below the patient bed (Figure 6c). [ 130–132 ] The configuration of the electromagnets fulfills isotropic magnetic field generation. However, the huge electromagnets almost encapsulate the workspace, limiting access to the patient during the operation.…”

Section: Theory Of Magnetic Actuationmentioning

confidence: 99%

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Magnetically Actuated Continuum Medical Robots: A Review

Yang

Cao

et al. 2023

Advanced Intelligent Systems

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The magnetic field has unique advantages in manipulating miniature robots working inside the human body, such as high transparency to biological tissue and good controllability for field generation. Generally, the actuated magnetic robot can be classified into two categories: tethered devices like intravascular microcatheters and untethered devices like helical swimmers. Among these, the tethered devices have a long history and good clinical application prospects, considering their high‐dose delivery and easy removal after the procedure. As an evolution of traditional continuum medical devices, the integration with magnetic actuation provides them with better scalability and improved dexterity. Although rapidly developed in the last two decades, the field of tethered magnetic robots requires further advancements in terms of design, fabrication, modeling, and control, especially for clinical applications. Herein, the recent progress of magnetically actuated continuum medical robots is focused on, intending to offer readers a comprehensive survey of the state‐of‐the‐art technologies and an information collection for future system design.

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Section: Theory Of Magnetic Actuationmentioning

confidence: 99%

“…The system is composed of eight electromagnets that are distributed spherically, with four arranged above and four placed below the patient bed (Figure 6c). [130][131][132] The configuration of the electromagnets fulfills isotropic magnetic field generation.…”

Section: Commercial Platformmentioning

confidence: 99%

Magnetically Actuated Continuum Medical Robots: A Review

Yang

Cao

et al. 2023

Advanced Intelligent Systems

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“…The high quality and real-time nature of x-ray monitoring systems made them the favoured technique for magnetic navigation. Both coil-based and permanent magnet-based systems using x-ray have been reported [41,167,170,197]. Despite the good results achieved, the risks associated with x-ray exposure are a major limiting factor and have encouraged further development of monitoring systems.…”

Section: Imagingmentioning

confidence: 99%

Challenges of continuum robots in clinical context: a review

et al. 2020

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With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate of progress slowed as limits of size and controllable degrees of freedom were reached. Continuum robots came with the potential to deliver a step change in the next generation of medical devices, by providing better access, safer interactions and making new procedures possible. Over the last few years, several continuum robotic systems have been launched commercially and have been increasingly adopted in hospitals. Despite the clear progress achieved, continuum robots still suffer from design complexity hindering their dexterity and scalability. Recent advances in actuation methods have looked to address this issue, offering alternatives to commonly employed approaches. Additionally, continuum structures introduce significant complexity in modelling, sensing, control and fabrication; topics which are of particular focus in the robotics community. It is, therefore, the aim of the presented work to highlight the pertinent areas of active research and to discuss the challenges to be addressed before the potential of continuum robots as medical devices may be fully realised.

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“…Adequately designed catheters in intracardiac procedures have become necessary to allow for atraumatic navigation of patient vasculature, adequate positioning, and placement of cardiovascular implants [2]. The parameters affecting the successful procedural outcomes in cardiac intervention include the operational skills of the cardiologists, visual navigational systems used to navigate the complex three-dimensional structure of the heart, and the catheter's ability to adapt and maneuver the distinct anatomy of the patient to deliver the diagnostics or the therapy [3,4]. The complexities of catheter design are primarily centered around the aspects of lack of better understanding of physician user needs, distinct patient anatomies, and non-linear relationship between the catheter's mechanical outputs and its design parameters.…”

Section: Introductionmentioning

confidence: 99%

Untitled

2023

Journal of Biomedical Engineering and Research

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Cardiovascular catheters design while balancing the tensile, torsion and bending performance outputs to achieve optimal performance is a challenge. Lasercut Hypotubes as a catheter's structural member provide an option to achieve the desired mechanical properties. This paper presents a case study to detail the process of designing an interrupted spiral cut pattern hypotube as a structural member while using Finite Element Analysis (FEA) test simulations along with Minitab's Central Composite Design (CCD) Response surface Methodology (RSM) for multi-response design optimization. The optimized design identified by this methodology, presented in the case study, showed that the tensile, torsional, and bending stiffnesses predicted by the RSM model compared to that of FEA simulation data with 20%, 1% and 35% error. The large percentage error for one of the responses (>20%) was attributed to the high residual error in the Minitab's model. For further improvement in the Minitab's model prediction, a DOE design to include full factorial design of experiments for additional data, identification of potential outliers due to sensitivity of FEA simulations compared to that of real-world data are recommended. Overall, this paper detailed the process of modeling a Lasercut hypotube design and the methodology to optimize the LCH design based on FEA simulation data and RSM without the need for cost prohibitive prototype iteration process in the design of structural heart catheters.

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Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures

Cited by 7 publications

References 3 publications

Magnetically Actuated Continuum Medical Robots: A Review

Magnetically Actuated Continuum Medical Robots: A Review

Challenges of continuum robots in clinical context: a review

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