Session: 03-15-02: Smart Manufacturing and Robotics for the Future II

Paper Number: 166952

A 6-DOF Soft Parallel Robot for Transcatheter Cardiac Surgery 

This study aims to develop a six degrees of freedom (DOF) transcatheter soft parallel robot for cardiac intervention, addressing the critical need for minimally invasive robotic-assisted (MIRA) procedures in treating cardiac disease. With approximately 655,000 cardiac-related deaths occurring annually in the United States, advancements in robotic catheter technology can significantly enhance transcatheter interventions such as intracardiac echocardiography (ICE), atrial fibrillation ablation, and mitral valve repair. Compared to open-heart surgery, MIRA procedures offer reduced recovery times, lower infection risks, and shorter hospital stays, making them a viable option for high-risk patients, including the elderly and individuals with diabetes.

The proposed transcatheter robot features a novel six DOF reconfigurable soft parallel structure designed to fit inside a catheter with an external diameter of less than 10 mm (30 F). Unlike traditional catheters, which are rigid tubes, the proposed design enables two configurations: a folded mode for catheter insertion and an unfolded mode that expands into a fully functional six DOF soft parallel robot inside the heart. Inspired by the structure of a three Universal-Spherical-Revolute (3USR) parallel robot, the design leverages soft robotics technology to transform the conventional rigid 3USR structure into a compliant, reconfigurable system that facilitates small-scale manufacturing and safe deployment within a catheter.

To ensure precise control of the transcatheter robot, an actuation module comprising six electromotors will be developed. The robot’s end-effector will be equipped with an electromagnetic (EM) sensor to measure its position and orientation. A kinematic model will be derived to establish the relationship between the end-effector position and motor movements. Additionally, a six DOF joystick will be developed to enable intuitive and precise control of the robot’s positioning, allowing for seamless navigation within the heart.

The final phase of the study involves validating the robot’s performance using a benchtop heart model. A CAD model of the heart, based on CT scan data, will be 3D printed to facilitate realistic deployment and testing. The robot will be inserted through a 10 mm incision, and its ability to navigate and robustly follow complex 3D heart contours will be thoroughly evaluated.

Successful completion of this project will result in the development of a six DOF soft robot capable of advancing complex cardiac interventions and transcatheter surgeries. Additionally, the robot’s reconfigurable structure and compact folded mode allow for insertion through small incisions, making it applicable to various MIRA procedures, including laparoscopy, thoracoscopy, and fetoscopy. This innovation has the potential to revolutionize minimally invasive surgical techniques, enhancing precision and patient outcomes across a wide range of medical applications.

Presenting Author: Amir Ali Amiri Moghadam Kennesaw State University

Presenting Author Biography: Associated Professor at KSU

Authors:

Kwasi Debrah-Pinamang KSu
Kingsley Nwachukwu KSU
Saleh Gharaie Deakin University
Turaj Ashuri KSU
Amir Ali Amiri Moghadam Kennesaw State University