Evidence map›Paper›PMID 40747533›Full record

ArticleIEEE robotics and automation letters2024

Modeling Non-linear Effects in a 4-DoF Robotic Transcatheter Delivery System.

Namrata U Nayar, Jaydev P Desai

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in IEEE robotics and automation letters, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

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.

2 · The registry

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.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

2 authors.

Namrata U NayarMedical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.
Jaydev P DesaiMedical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.

Funding

Image-guided Intravascular Robotic System for Mitral Valve Repair and ImplantsR01HL140325 · NHLBI · GEORGIA INSTITUTE OF TECHNOLOGY · PI DESAI, JAYDEV P., FEI, BAOWEI · 2018 to 2021
$3.0M
NHLBI NIH HHS R01 HL140325
6 · The paper itself

Abstract

Transcatheter mitral valve repair (TMVr), a minimally invasive approach, is becoming increasingly popular for treating mitral regurgitation (MR) since nearly half of the MR patients are non-surgical candidates. However, current TMVr devices are operated manually, increasing radiation exposure to the clinical staff and making telesurgery infeasible. A robotically steerable transcatheter delivery system can alleviate these issues while also enhancing consistency, improving precision, and mitigating human fatigue during the procedure. Moreover, precise manipulation of a surgical robotic system requires effective system modeling. Therefore, in this work, we model a full-scale robotically steerable transcatheter delivery system, accounting for the hysteresis, friction, tendon elongation, and catheter configuration. We also account for the coupling between the joints of the robotic steerable end and the effect of the catheter configuration on the joints. Experiments were conducted in free air to validate the proposed model while subjecting the robotic transcatheter delivery system to similar tortuosity as encountered during a TMVr procedure.

Indexed as

catheter configurationflexible tendon-sheath mechanismfriction and hysteresisMedical robotic systemmodeling and verificationtendon elongation

Identifiers

PMID40747533
PMCPMC12308731

What OpenQuestion holds

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Registered trials

None linked

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.