National Institute of Biomedical Imaging and Bioengineering 1R15EB032189-01A1

DESIGN AND FABRICATION OF A SOFT PARALLEL ROBOT FOR TRANSCATHETER INTERVENTIONS

This award funds the development of a six degrees of freedom soft parallel robot for minimally invasive cardiac interventions, aiming to improve surgical control and reduce recovery times for heart disease patients.

Description

The overall objective of this proposal is to develop a six degrees of freedom (DOF) transcatheter soft parallel robot for cardiac intervention. Cardiac disease contributes to death of about 655,000 Americans each year. Minimally invasive robot-assisted (MIRA) procedures can revolutionize the treatment of cardiac disease. As compared to open heart surgery, MIRA procedures can dramatically minimize the recovery time, risk of infection, and average length of stay in hospital. Moreover, open heart surgery is a high-risk option for many elderly patients and people with diabetes. Robotic catheter technology has the potential to be applied for several transcatheter interventions such as intracardiac echocardiography (ICE), atrial fibrillation ablation, and repair of mitral valve prolapse. However, achieving these goals requires advancements in both imaging technology and robotic catheter systems. Project goals include designing and fabricating a six DOF reconfigurable soft parallel robot to fit inside existing catheters, inspired by the structure of a three Universal-Spherical-Revolute (3USR) parallel robot, and developing an intuitive master/slave control system using a twin Stewart mechanism as a joystick with 6 DOF, allowing surgeons to control the robot end-effector with one hand. The project aims to provide a novel, efficient device for transcatheter heart surgery, potentially reducing the impact of heart failure and promoting a healthier society.

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