ArticleAnnals of biomedical engineering2026
MitraNav: Design and Modeling of a Robotic System for Transseptal Mitral Valve Replacement with Dock Catheter Task-Space Control.
Article in Annals of biomedical engineering, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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.
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.
Who cites it
0 citing papers in PubMed.
No citing paper in PubMed yet.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors.
Funding
Abstract
purposeTranscatheter mitral valve replacement (TMVR) is a promising therapy for reducing mitral regurgitation in select patients. Direct tip control of multi-segment catheters can simplify manipulation and enable precise, stable positioning. This paper introduces MitraNav, the first robotic system developed for dock-based TMVR, focusing on system design and task-space control of the dock catheter.
methodsBuilt on a previously validated guide-sheath robot, MitraNav is upgraded to support concentric multi-catheter manipulation via a unified actuation mechanism. It suits both dock and balloon catheters, enabling all catheter manipulation using a single robotic system. A two-segment bending model maps joint space to task space through an intermediate configuration space. A two-stage control strategy is then applied: joint-space control allows for rapid approach to the mitral annulus, followed by task-space control for direct tip positioning. To improve accuracy and handle joint limits, the task-space controller incorporates Jacobian normalization to balance joint contributions, null-space optimization to regulate joint motion without affecting the primary task, and a PD controller to reduce tracking errors.
resultsTrajectory-following experiments demonstrate feasibility of direct tip control, with maximum errors of 2.38 mm, 2.53 mm, and 2.46 mm in three trials. These positional errors are within the range of acceptable accuracy commonly considered for catheter-based cardiac interventions.
conclusionMitraNav represents the foundation for intuitive catheter manipulation and offers the potential for semi-autonomous robotic dock-based TMVR.
Indexed as
Identifiers
42069891What 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.