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Erschienen in: International Journal of Computer Assisted Radiology and Surgery 5/2014

01.09.2014 | Original Article

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

verfasst von: Kitaro Yoshimitsu, Takahisa Kato, Sang-Eun Song, Nobuhiko Hata

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 5/2014

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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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Metadaten
Titel
A novel four-wire-driven robotic catheter for radio-frequency ablation treatment
verfasst von
Kitaro Yoshimitsu
Takahisa Kato
Sang-Eun Song
Nobuhiko Hata
Publikationsdatum
01.09.2014
Verlag
Springer Berlin Heidelberg
Erschienen in
International Journal of Computer Assisted Radiology and Surgery / Ausgabe 5/2014
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-014-0982-3

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