Advanced Robotics for the Next-Generation of Cardiac Interventions

Figures

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  Figure 1. FDA-approved robot-assisted systems for cardiovascular interventions. Images reproduced with permission. (a) CorPath GRX System including control console and robotic driver (courtesy of Corindus Inc., Waltham, MA, USA), (b) Magellan Vascular Robotic System (courtesy of Hansen Medical, Mountain View, CA, USA) [13], (c) Amigo Remote Catheter System with handheld controller (courtesy of Catheter Precision, Inc., Mount Olive, NJ, USA) [15].

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  Figure 2. Classes of robot autonomy in cardiac intervention. (1) CRI Amigo System, Catheter Precision, Inc., Mount Olive, NJ, USA. (2) Sensei Robotics Catheter System, Hansen Medical, Mountain View, CA, USA. (3) Magellan Robotic Catheter System, Hansen Medical, Mountain View, CA, USA. (4) Niobe Remote Magnetic Navigation System, Stereotaxis, St. Louis, Mo, USA. (5) Genesis Remote Magnetic Navigation System, Stereotaxis, St. Louis, Mo, USA. (6) CorPath 200, Corindus Inc., Waltham, MA, USA. (7) CorPath GRX System, Corindus Inc., Waltham, MA, USA. (8) Magnetically actuated robot by Dreyfus R. et al. [28]. (9) Wang S. et al. [29]. (10) Karstensen L. et al. [30]. (11) Jianu T. et al. [31]. (12) Wang Y. et al. [32]. Images reproduced with permission.

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  Figure 3. FBG-based shape-sensing architecture used inside the inner channel of the ablation catheter [43]. Image reproduced with permission.

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  Figure 4. Haptic feedback and haptic devices for cardiovascular interventions. Images reproduced with permission. (a) Isometric and sectional views of RACS, consisting of a braided sleeve that is pneumatically actuated [52], (b) TorMag’s haptic device in the surgeon interface, which provides friction torque on the shaft of the catheter by deforming the MRE material [49], (c) Manipulator integrated with operating units and a haptic interface [53].

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  Figure 5. CathPilot for control of flexible ablation catheters [57]. (a) Catheter lumen and expandable frame, (b) Internal mechanisms of the user input handle unit. Images reproduced with permission.

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  Figure 6. Catheter tracking and autonomous navigation for robot-assisted cardiac interventions. (a) B-spline model for catheter tracking [63], (b) Catheter tip trajectories inside the phantom model [32], (c) Optimized catheter motion trajectory under flow simulation: (1) catheter, (2) guidewire, (3) catheter driver, (4) guidewire driver [64]. Images reproduced with permission.

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  Figure 7. Soft robotics and soft sensors proposed for robot-assisted cardiac interventions. (a) Fabrication and conformability of soft inflatable basket [71], (b) Conformal soft robotic that can compress and twist [74], (c) Bio-inspired sensory robots as minimally invasive smart implants [76], (d) Magnetic soft-robotic chains with reconfigurable shapes [78]. Images reproduced with permission.

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  Figure 8. State-of-the-art robotic technologies for cardiac interventions. (a) Pneumatically actuated cardiac ablation catheter equipped with integrated soft actuation and sensing unit for real-time force control [82], (b) Millimeter-scale magnetic steering continuum robot with programmable shape [83], (c) Ball chain magnetic catheter for cardiac arrhythmia treatment [84], (d) A multifunctional soft robot for cardiac interventions deploys at the heart’s entrance, maintains contact with moving targets, and produces newton-level forces [85], (e) A helical magnetically actuated continuum robot that engages with the vessel wall to convert rotational motion into forward propulsion [28]. Images reproduced with permission.