ArticleIEEE robotics and automation letters2024
Ultrasound-Guided Real-Time Joint Space Control of a Robotic Transcatheter Delivery System.
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 2 papers.
What it found
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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
2 citing papers in PubMed.
- Closed-loop Control of Steerable Balloon Endoscopes for Robot-assisted Transcatheter Intracardiac Procedures.IEEE robotics and automation letters · 2026Article
- Ultrasound-Guided Real-Time Joint Space Control of a Robotic Transcatheter Delivery System.IEEE robotics and automation letters · 2024Article
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Authors and funding
2 authors.
Funding
Abstract
Transcatheter mitral valve repair (TMVr) is growing in popularity for non-surgical mitral regurgitation (MR) patients, but the manual operation of current TMVr devices increases radiation exposure and limits telesurgery feasibility. A robotically steerable delivery system can alleviate these problems, improving safety and precision while reducing staff fatigue. However, precise manipulation of a surgical robotic system requires system modeling and reliable external feedback. Ultrasound imaging provides visualization and guidance for precise instrument maneuvers within the body. Moreover, it is a readily available, safe, and cost-effective feedback modality, ideal for this procedure. Therefore, in this work, we use a previously derived model for the robotic transcatheter system and perform ultrasound-guided joint space control through real-time (algorithm run time: ~0.011 s) estimation of four joints simultaneously. The joints are estimated using kinematically-derived weight maps, a new technique, and a feature detection algorithm, with an accuracy of 3.19°, 2.76°, 2.41 mm, and 6.83° for the proximal bending, distal bending, prismatic motion, and distal torsion joints, respectively. This approach leverages existing knowledge about the system, demonstrating computational efficiency, intuitive comprehension, and independence from a training dataset, making it a versatile joint estimation technique. Experiments were conducted to compare the proposed method with currently employed joint estimation strategies. Additionally, real-time control was demonstrated using ultrasound feedback in a water bath, while subjecting the robotic transcatheter delivery system to similar tortuosity as encountered during a TMVr procedure.
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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 Socratic graph.