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A novel four-wire-driven robotic catheter for radio-frequency ablation treatment

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

   Robotic catheters have been proposed to increase the efficacy and safety of the radio-frequency ablation treatment. The robotized motion of current robotic catheters mimics the motion of manual ones—namely, deflection in one direction and rotation around the catheter. With the expectation that the higher dexterity may achieve further efficacy and safety of the robotically driven treatment, we prototyped a four-wire-driven robotic catheter with the ability to deflect in two- degree-of-freedom motions in addition to rotation.

Methods

   A novel quad-directional structure with two wires was designed and developed to attain yaw and pitch motion in the robotic catheter. We performed a mechanical evaluation of the bendability and maneuverability of the robotic catheter and compared it with current manual catheters.

Results

   We found that the four-wire-driven robotic catheter can achieve a pitching angle of 184.7\(^{\circ }\) at a pulling distance of wire for 11 mm, while the yawing angle was 170.4\(^{\circ }\) at 11 mm. The robotic catheter could attain the simultaneous two- degree-of-freedom motions in a simulated cardiac chamber.

Conclusion

   The results indicate that the four-wire-driven robotic catheter may offer physicians the opportunity to intuitively control a catheter and smoothly approach the focus position that they aim to ablate.

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Acknowledgments

Research reported in this publication was supported by The National Institute of Biomedical Imaging and Bioengineering of the National Institutes of Health under award number P41EB015898. The content is solely the responsibility of the authors and does not necessarily represent the official views of the National Institutes of Health. NH is a member of the Board of Directors of AZE Technology and has an equity interest in the company. AZE Technology develops and sells imaging technology and software. NH’s interests were reviewed and are managed by the Brigham and Women’s Hospital and Partners HealthCare in accordance with their conflict of interest policies. KY was in part supported by Global COE entitled “The Multidisciplinary Education and Research Center for the Establishment of Regenerative Medicine” at Tokyo Women’s Medical University.

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Authors and Affiliations

  1. Department of Radiology, Brigham and Women’s Hospital and Harvard Medical School, 75 Francis Street, SPL L1-050 ASB1, Boston, MA, USA

    Kitaro Yoshimitsu, Takahisa Kato, Sang-Eun Song & Nobuhiko Hata

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  1. Kitaro Yoshimitsu
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  2. Takahisa Kato
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  3. Sang-Eun Song
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  4. Nobuhiko Hata
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Correspondence to Kitaro Yoshimitsu.

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Yoshimitsu, K., Kato, T., Song, SE. et al. A novel four-wire-driven robotic catheter for radio-frequency ablation treatment. Int J CARS 9, 867–874 (2014). https://doi.org/10.1007/s11548-014-0982-3

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  • DOI: https://doi.org/10.1007/s11548-014-0982-3

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