Pre-clinical Assessment of a Novel Ablation Catheter Specific to Robotic Magnetic Navigation

Figures

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  Figure 1. The Magbot catheter’s structural design and innovation. A: Distal deflectable segment of the Magbot catheter, consisting of 5 integrated components: 1 distal electrode and 4 magnetic blocks (MagBlks). B: Divergent irrigation designs. The Magbot catheter incorporates a proprietary microporous irrigation system, featuring 66 uniformly distributed micro-orifices (0.1 mm) across the distal electrode. Conversely, the RMT catheter uses a conventional irrigation configuration, with 6 larger orifices (0.4 mm) concentrated at the distal tip.

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  Figure 2. Experimental design: a simulation study and an ex vivo animal study. Panel I: Schematic representation of contact force measurements across different positions and magnetic vectors. A:Red axes denote the defined spatial directions along which the magnetic field was aligned during sequential experiments: x/−x (transverse), z (caudal), −z (cranial), and −y (sagittal). Sequential numbers (1–4) indicate measurement points. B: Depiction of the Magbot and RMT catheters with incremental extensions from the vascular sheath. Position I: 2 mm proximal to the first ferromagnetic component. Position II: Midway between the first and second ferromagnetic components. Position III: 2 mm distal to the second ferromagnetic component. Position IV: 10 mm distal to the second ferromagnetic component. C: Examples of diverse electrode extensions and orientations. 1: Position I in the transverse vector. 2: Position IV in the caudal vector. 3: Position III in the sagittal vector. 4: Position II in the cranial vector. Panel II: Schematic representation of the ex vivo experimental setup and lesion measurements. A: Configuration of the ex vivo experimental apparatus. B: Cross-sectional view of a…

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  Figure 3. Intracatheter comparison of lesion metrics across different power settings. PanelA: Lesion metrics produced by the Magbot catheter. PanelB: Lesion metrics produced by the RMT catheter. The P value indicates the statistical significance of the analysis of variance results obtained with 3 power settings for each catheter. ns = not significant.

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  Figure 4. Intercatheter comparison of lesion metrics across different power settings. ns = not significant.

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  Figure 5. Diagram illustrating the dimensions and morphology of the mean ablation lesion produced by each catheter across different power settings.

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  Figure 6. Intercatheter comparison of steam pop occurrence. The P value represents the statistical significance of the t test comparing the 2 catheters at each power setting.