Document Type
Article
Publication Date
9-1-2016
Journal
Int J Med Robot
Volume
12
Issue
3
First Page
442
Last Page
452
URL with Digital Object Identifier
https://doi: 10.1002/rcs
Abstract
BACKGROUND: Remote catheter navigation systems protect interventionalists from scattered ionizing radiation. However, these systems typically require specialized catheters and extensive operator training.
METHODS: A new compact and sterilizable telerobotic system is described, which allows remote navigation of conventional tip-steerable catheters, with three degrees of freedom, using an interface that takes advantage of the interventionalist's existing dexterity skills. The performance of the system is evaluated ex vivo and in vivo for remote catheter navigation and ablation delivery.
RESULTS: The system has absolute errors of 0.1 ± 0.1 mm and 7 ± 6° over 100 mm of axial motion and 360° of catheter rotation, respectively. In vivo experiments proved the safety of the proposed telerobotic system and demonstrated the feasibility of remote navigation and delivery of ablation.
CONCLUSION: The proposed telerobotic system allows the interventionalist to use conventional steerable catheters; while maintaining a safe distance from the radiation source, he/she can remotely navigate the catheter and deliver ablation lesions. Copyright © 2015 John Wiley & Sons, Ltd.
Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial 4.0 License
Notes
This is the pre-peer reviewed version of the following article: M.A. Tavallaei, D. Gelman, M.K. Lavdas, A.C. Skanes, D.L. Jones, J.S. Bax & M. Drangova. (2016). Design, development and evaluation of a compact tele-robotic catheter navigation system. International Journal of Medical Robotics and Computer Assisted Surgery, 12(3), 442-452, which has been published in final form at https://doi.org/10.1002/rcs.1711 . This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions.