Abstract:

A robotic system for automatically steering cardiac imaging catheters enables enhanced visualization of anatomical structures and working instruments during catheter-based procedures. This system is comprised of several components for manipulating imaging catheters, sensing and control, user interface, and image collection and processing. Developments in each of these components have enabled the system to move towards in vivo studies in porcine models. The physical implementation of the robot can manipulate the four input degrees of freedom of the catheter with sub-degree and submillimeter accuracy. The sensing and control enables the inputs to maneuver the catheter tip with millimeter-level accuracy. The image collection and processing methods (in conjunction with the user interface) provide useful visualizations of simulated cardiac anatomy. Altogether, these components can potentially improve workflow, accuracy, and patient outcomes during minimally invasive interventional procedures.