PubDB - A Novel Four-wire-driven Robotic Catheter for Radio-frequency Ablation Treatment

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A Novel Four-wire-driven Robotic Catheter for Radio-frequency Ablation Treatment

Yoshimitsu K., Kato T., Song S-E., Hata N.
Institution:
Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA. kitarof1@bwh.harvard.edu.
Publisher:
Springer
Publication Date:
Sep-2014
Journal:
Int J Comput Assist Radiol Surg
Volume Number:
9
Issue Number:
5
Pages:
867-74
Citation:
Int J Comput Assist Radiol Surg. 2014 Sep;9(5):867-74.
PubMed ID:
24510205
PMCID:
PMC4209906
Keywords:
Flexible manipulator, Four-wire-driven, Medical robot, Quad-directional structure, Robotic catheter, Robotic surgery
Appears in Collections:
SNR, NCIGT
Sponsors:
P41 EB015898/EB/NIBIB NIH HHS/United States
Generated Citation:
Yoshimitsu K., Kato T., Song S-E., Hata N. A Novel Four-wire-driven Robotic Catheter for Radio-frequency Ablation Treatment. Int J Comput Assist Radiol Surg. 2014 Sep;9(5):867-74. PMID: 24510205. PMCID: PMC4209906.
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PURPOSE: Robotic catheters have been proposed to increase the efficacy and safety of the radio-frequency ablation treatment. The robotized motion of current robotic catheters mimics the motion of manual ones-namely, deflection in one direction and rotation around the catheter. With the expectation that the higher dexterity may achieve further efficacy and safety of the robotically driven treatment, we prototyped a four-wire-driven robotic catheter with the ability to deflect in two- degree-of-freedom motions in addition to rotation. METHODS: A novel quad-directional structure with two wires was designed and developed to attain yaw and pitch motion in the robotic catheter. We performed a mechanical evaluation of the bendability and maneuverability of the robotic catheter and compared it with current manual catheters. RESULTS: We found that the four-wire-driven robotic catheter can achieve a pitching angle of 184.7[Formula: see text] at a pulling distance of wire for 11 mm, while the yawing angle was 170.4[Formula: see text] at 11 mm. The robotic catheter could attain the simultaneous two- degree-of-freedom motions in a simulated cardiac chamber. CONCLUSION: The results indicate that the four-wire-driven robotic catheter may offer physicians the opportunity to intuitively control a catheter and smoothly approach the focus position that they aim to ablate.

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