RESUMEN
Minimally invasive endovascular procedures involve the manual placement of a guidewire, which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable guidewire systems have been developed with tendon-driven, magnetic, and concentric tube actuation strategies to enable precise tip control, however, selecting machining parameters for such robots does not have a strict procedure. In this paper, we develop a systematic design procedure for selecting the tube pairs of the COaxially Aligned STeerable (COAST) guidewire robot. This includes the introduction of a mechanical model that accounts for micromachining-induced pre-curvatures with the goal of determining design parameters that reduce combined distal tip pre-curvature and minimize abrupt changes in actuated tip position for the COAST guidewire robot through selection of the best flexural rigidity between the tube pairs. We present adjustments in the kinematics modeling of COAST robot tip bending motion, and use these to characterize the bending behavior of the COAST robot for varying geometries of the micromachined tubes, with an average RMSE value for the tip position error of 0.816 mm in the validation study.
RESUMEN
Placement of catheters in minimally invasive cardiovascular procedures is preceded by navigating to the target lesion with a guidewire. Traversing through tortuous vascular pathways can be challenging without precise tip control, potentially resulting in the damage or perforation of blood vessels. To improve guidewire navigation, this paper presents 3D shape reconstruction and tip force sensing for the COaxially Aligned STeerable (COAST) guidewire robot using a triplet of adhered single core fiber Bragg grating sensors routed centrally through the robot's slender structure. Additionally, several shape reconstruction algorithms are compared, and shape measurements are utilized to enable tip force sensing. Demonstration of the capabilities of the robot is shown in free air where the shape of the robot is reconstructed with average errors less than 2mm at the guidewire tip, and the magnitudes of forces applied to the tip are estimated with an RMSE of 0.027N or less.
RESUMEN
Surgical robots have been extensively researched for a wide range of surgical procedures due to the advantages of improved precision, sensing capabilities, motion scaling, and tremor reduction, to name a few. Though the underlying disease condition or pathology may be the same across patients, the intervention approach to treat the condition can vary significantly across patients. This is especially true for endovascular interventions, where each case brings forth its own challenges. Hence it is critical to develop patient-specific surgical robotic systems to maximize the benefits of robot-assisted surgery. Manufacturing patient-specific robots can be challenging for complex procedures and furthermore the time required to build them can be a challenge. To overcome this challenge, additive manufacturing, namely 3D-printing, is a promising solution. 3D-printing enables fabrication of complex parts precisely and efficiently. Although 3D-printing techniques have been researched for general medical applications, patient-specific surgical robots are currently in their infancy. After reviewing the state-of-the-art in 3D-printed surgical robots, this paper discusses 3D-printing techniques that could potentially satisfy the stringent requirements for surgical interventions. We also present the accomplishments in our group in developing 3D-printed surgical robots for neurosurgical and cardiovascular interventions. Finally, we discuss the challenges in developing 3D-printed surgical robots and provide our perspectives on future research directions.
RESUMEN
OBJECTIVES: We aimed to evaluate diastolic leaflet tethering as a factor that may cause mitral stenosis (MS) after simulated MitraClip implantation, using an in vitro left heart simulator. BACKGROUND: Leaflet tethering commonly seen in functional mitral regurgitation may be a significant factor affecting the severity of MS after MitraClip implantation. METHODS: A left heart simulator with excised ovine mitral valves (N = 6), and custom edge-to-edge clip devices (GTclip) was used to mimic implantation of MitraClip in a variety of positions. Anterior mitral leaflet (AML) tethering severity was varied for each case (leaflet excursion of 75°, 60°, and 45°, consistent with mild, moderate and severe tethering), and the baseline mitral annular area (MAA) was varied across samples (3.6-4.8 cm2 ). The resulting mitral valve area (MVA), and peak/mean mitral valve gradient (MVG) were measured in each case. RESULTS: AML tethering severity was a highly significant factor increasing MVG and decreasing MVA (P < 0.001). When GTclip placement was simulated with severe AML tethering, mean MVG >5 mmHg resulted more frequently than with GTclip placement alone (46% vs. 4%, respectively). However, severe AML tethering alone significantly reduced baseline MVA to 3.6 ± 0.2 cm2 , and increased baseline MVG to 3.0 ± 0.4 mmHg. At MAA above 4.7 cm2 , severe AML tethering did not cause moderate MS, even with placement of two GTclips (95% confidence). CONCLUSIONS: Our results show that diastolic AML tethering may predispose to MS after clip placement, however, MS was not observed when baseline MVA was above 4.0 cm2 . Severity of AML tethering may be an important criterion in selecting patients for edge-to-edge repair.
