Key result
Tactile feedback reduces collision force and task time vs visual feedback during simulated robotic ablation.
An innovative master-slave robotic catheter system with haptic feedback reduces collision force and task completion time in an in vitro cardiac ablation model.
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Hypothesis-generating in vitro; leaves open clinical translation of haptic robotic ablation systems.
This study introduces an innovative master-slave cardiac ablation catheter robot system that employs magnetorheological fluids. The system incorporates magnetorheological fluid to enable collision detection through haptic feedback, thereby enhancing the operator's situational awareness. A modular clamping and propulsion mechanism has been engineered for the ablation catheter, facilitating omnidirectional operation and force feedback within the cardiac cavity. To evaluate the proposed system, an in vitro experiment was performed. Results from the experiment indicate that the system demonstrates high motion transmission accuracy. Furthermore, the system effectively alerts operators to potential collisions, enabling swift catheter position adjustments, minimizing the risk of vascular perforation, and ultimately enhancing the overall safety and efficiency of the procedure.
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Zhang et al. (2025) studied Cardiac ablation (n=10). Master-slave robotic system with tactile feedback vs. Robotic system without tactile feedback was evaluated on Maximum collision force and task completion time. The master-slave robotic system with tactile feedback reduced the maximum collision force and task completion time compared to visual feedback alone during in vitro simulated cardiac ablation.
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