CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System

Zhouyang Xu; Aya Mutaz Zeidan; Yetao He; Lisa Leung; Calum Byrne; Sachin Sabu; Yuanwei Wu; Zhiyue Chen; Steven E. Williams; Lukas Lindenroth; Jonathan Behar; Christopher Aldo Rinaldi; John Whitaker; Aruna Arujuna; Richard Housden; Kawal Rhode

doi:10.3390/robotics13050080

CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System

Zhouyang Xu^*, Aya Mutaz Zeidan, Yetao He, Lisa Leung, Calum Byrne, Sachin Sabu, Yuanwei Wu, Zhiyue Chen, Steven E. Williams, Lukas Lindenroth, Jonathan Behar, Christopher Aldo Rinaldi, John Whitaker, Aruna Arujuna, Richard Housden, Kawal Rhode

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

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Abstract

Atrial fibrillation, the most prevalent cardiac arrhythmia, is treated by catheter ablation to isolate electrical triggers. Clinical trials on robotic catheter systems hold promise for improving the safety and efficacy of the procedure. However, expense and proprietary designs hinder accessibility to such systems. This paper details an open-source, modular, three-degree-of-freedom robotic platform for teleoperating commercial ablation catheters through joystick navigation. We also demonstrate a catheter-agnostic handle interface permitting customization with commercial catheters. Collaborating clinicians performed benchtop targeting trials, comparing manual and robotic catheter navigation performance. The robot reduced task duration by 1.59 s across participants and five trials. Validation through mean motion jerk analysis revealed 35.2% smoother robotic navigation for experts (≥10 years experience) compared to the intermediate group. Yet, both groups achieved smoother robot motion relative to the manual approach, with the experts and intermediates exhibiting 42.2% and 13.6% improvements, respectively. These results highlight the potential of this system for enhancing catheter-based procedures. The source code and designs of CardioXplorer have been made publicly available to lower boundaries and drive innovations that enhance procedure efficacy beyond human capabilities.

Original language	English
Article number	80
Journal	Robotics
Volume	13
Issue number	5
DOIs	https://doi.org/10.3390/robotics13050080
Publication status	Published - May 2024

Keywords

medical robots and systems
open-source robotics
surgical robotics

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10.3390/robotics13050080

robotics-13-00080-v2Final published version, 7.88 MBLicence: CC BY

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title = "CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System",

abstract = "Atrial fibrillation, the most prevalent cardiac arrhythmia, is treated by catheter ablation to isolate electrical triggers. Clinical trials on robotic catheter systems hold promise for improving the safety and efficacy of the procedure. However, expense and proprietary designs hinder accessibility to such systems. This paper details an open-source, modular, three-degree-of-freedom robotic platform for teleoperating commercial ablation catheters through joystick navigation. We also demonstrate a catheter-agnostic handle interface permitting customization with commercial catheters. Collaborating clinicians performed benchtop targeting trials, comparing manual and robotic catheter navigation performance. The robot reduced task duration by 1.59 s across participants and five trials. Validation through mean motion jerk analysis revealed 35.2% smoother robotic navigation for experts (≥10 years experience) compared to the intermediate group. Yet, both groups achieved smoother robot motion relative to the manual approach, with the experts and intermediates exhibiting 42.2% and 13.6% improvements, respectively. These results highlight the potential of this system for enhancing catheter-based procedures. The source code and designs of CardioXplorer have been made publicly available to lower boundaries and drive innovations that enhance procedure efficacy beyond human capabilities.",

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author = "Zhouyang Xu and Zeidan, {Aya Mutaz} and Yetao He and Lisa Leung and Calum Byrne and Sachin Sabu and Yuanwei Wu and Zhiyue Chen and Williams, {Steven E.} and Lukas Lindenroth and Jonathan Behar and Rinaldi, {Christopher Aldo} and John Whitaker and Aruna Arujuna and Richard Housden and Kawal Rhode",

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doi = "10.3390/robotics13050080",

language = "English",

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T2 - An Open-Source Modular Teleoperative Robotic Catheter Ablation System

AU - Xu, Zhouyang

AU - Zeidan, Aya Mutaz

AU - He, Yetao

AU - Leung, Lisa

AU - Byrne, Calum

AU - Sabu, Sachin

AU - Wu, Yuanwei

AU - Chen, Zhiyue

AU - Williams, Steven E.

AU - Lindenroth, Lukas

AU - Behar, Jonathan

AU - Rinaldi, Christopher Aldo

AU - Whitaker, John

AU - Arujuna, Aruna

AU - Housden, Richard

AU - Rhode, Kawal

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N2 - Atrial fibrillation, the most prevalent cardiac arrhythmia, is treated by catheter ablation to isolate electrical triggers. Clinical trials on robotic catheter systems hold promise for improving the safety and efficacy of the procedure. However, expense and proprietary designs hinder accessibility to such systems. This paper details an open-source, modular, three-degree-of-freedom robotic platform for teleoperating commercial ablation catheters through joystick navigation. We also demonstrate a catheter-agnostic handle interface permitting customization with commercial catheters. Collaborating clinicians performed benchtop targeting trials, comparing manual and robotic catheter navigation performance. The robot reduced task duration by 1.59 s across participants and five trials. Validation through mean motion jerk analysis revealed 35.2% smoother robotic navigation for experts (≥10 years experience) compared to the intermediate group. Yet, both groups achieved smoother robot motion relative to the manual approach, with the experts and intermediates exhibiting 42.2% and 13.6% improvements, respectively. These results highlight the potential of this system for enhancing catheter-based procedures. The source code and designs of CardioXplorer have been made publicly available to lower boundaries and drive innovations that enhance procedure efficacy beyond human capabilities.

AB - Atrial fibrillation, the most prevalent cardiac arrhythmia, is treated by catheter ablation to isolate electrical triggers. Clinical trials on robotic catheter systems hold promise for improving the safety and efficacy of the procedure. However, expense and proprietary designs hinder accessibility to such systems. This paper details an open-source, modular, three-degree-of-freedom robotic platform for teleoperating commercial ablation catheters through joystick navigation. We also demonstrate a catheter-agnostic handle interface permitting customization with commercial catheters. Collaborating clinicians performed benchtop targeting trials, comparing manual and robotic catheter navigation performance. The robot reduced task duration by 1.59 s across participants and five trials. Validation through mean motion jerk analysis revealed 35.2% smoother robotic navigation for experts (≥10 years experience) compared to the intermediate group. Yet, both groups achieved smoother robot motion relative to the manual approach, with the experts and intermediates exhibiting 42.2% and 13.6% improvements, respectively. These results highlight the potential of this system for enhancing catheter-based procedures. The source code and designs of CardioXplorer have been made publicly available to lower boundaries and drive innovations that enhance procedure efficacy beyond human capabilities.

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CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System

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