ArticleIEEE transactions on medical robotics and bionics2022
Towards the Design and Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant.
Article in IEEE transactions on medical robotics and bionics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
8 citing papers in PubMed, 15 citations in OpenAlex.
- A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons.IEEE transactions on medical robotics and bionics · 2026Article
- MitraNav: Design and Modeling of a Robotic System for Transseptal Mitral Valve Replacement with Dock Catheter Task-Space Control.Annals of biomedical engineering · 2026Article
- Materials Advances in Devices for Heart Disease Interventions.Advanced materials (Deerfield Beach, Fla.) · 2025Review
- Ultrasound-Guided Real-Time Joint Space Control of a Robotic Transcatheter Delivery System.IEEE robotics and automation letters · 2024Article
- Modeling Non-linear Effects in a 4-DoF Robotic Transcatheter Delivery System.IEEE robotics and automation letters · 2024Article
- Compact Design and Task Space Control of a Robotic Transcatheter Delivery System for Mitral Valve Implant.IEEE transactions on medical robotics and bionics · 2023Article
- A multifunctional soft robot for cardiac interventions.Science advances · 2023Article
- Telerobotic Transcatheter Delivery System for Mitral Valve Implant.IEEE robotics and automation letters · 2023Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors at 1 institution in 1 country.
Funding
Abstract
Minimally-invasive surgeries using transcatheter approaches and sophisticated imaging modalities are gaining popularity to treat mitral regurgitation (MR). This paper proposes the next generation of a robotic catheter to deliver an implant onto the mitral valve (MV) through a transseptal approach. The proposed robot has an outer diameter (OD) of 5.7 mm, a rigid distal end length of 20 mm, a prismatic tube that can be advanced by 50-60 mm, and a bending joint that can easily bend 120° to reach the valve opening. The implant can be rotated 75° bidirectionally by the distal torsion joint to orient it with the MV leaflet for precise implantation. The robotic joints are modeled individually, the forward and inverse kinematics are derived, and the robot motion validation is carried out through experimentation. A modified kinematics (MK) model, Prandtl-Ishlinskii (PI) hysteresis model, and hybrid of MK and PI model are used to compensate for the catheter nonlinearities. A preliminary study is conducted to evaluate if force sensing can be used to compensate for the effects of fluid flow. Also, the implantation procedure is demonstrated in a phantom heart.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.