Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

Aya Mutaz Zeidan; Zhouyang Xu; Christopher E. Mower; Honglei Wu; Quentin Walker; Oyinkansola Ayoade; Natalia Cotic; Jonathan Behar; Steven Williams; Aruna Arujuna; Yohan Noh; Richard Housden; Kawal Rhode

doi:10.1109/ICRA48891.2023.10160254

Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

Aya Mutaz Zeidan^*, Zhouyang Xu, Christopher E. Mower, Honglei Wu, Quentin Walker, Oyinkansola Ayoade, Natalia Cotic, Jonathan Behar, Steven Williams, Aruna Arujuna, Yohan Noh, Richard Housden, Kawal Rhode

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

3 Citations (Scopus)

187 Downloads (Pure)

Abstract

Transseptal puncture (TSP) is a prerequisite for left atrial catheter ablation for atrial fibrillation, requiring access from the right side of the heart. It is a demanding procedural step associated with complications, including inadvertent puncturing and application of large forces on the tissue wall. Robotic systems have shown great potential to overcome such challenges by introducing force-sensing capabilities and increased precision and localization accuracy. Therefore, this work introduces the design and development of a novel robotic system developed to perform TSP. We integrated optoelectronic sensors into the tools' fixtures, measuring tissue contact and puncture forces along one axis. The novelty of this design is in the system's ability to manipulate a Brockenbrough (BRK) needle and dilator-sheath simultaneously and measure tissue contact and puncture forces. In performing puncture experiments on anthropomorphic tissue models, an average puncture force of 3.97 ± 0.45 N (1SD) was established - similar to the force reported in literature on the manual procedure. This research highlights the potential for improving patient safety by enforcing force constraints, paving the way to more automated and safer TSP.

Original language	English
Title of host publication	2023 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6851-6858
Number of pages	8
ISBN (Electronic)	9798350323658
ISBN (Print)	9798350323665
DOIs	https://doi.org/10.1109/ICRA48891.2023.10160254
Publication status	Published - 4 Jul 2023
Event	2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom Duration: 29 May 2023 → 2 Jun 2023

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2023-May
ISSN (Print)	1050-4729

Conference

Conference	2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Country/Territory	United Kingdom
City	London
Period	29/05/2023 → 2/06/2023

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10.1109/ICRA48891.2023.10160254

ICRA_2023___Aya_Zeidan-19Accepted author manuscript, 7.56 MBLicence: CC BY

Cite this

Zeidan, A. M., Xu, Z., Mower, C. E., Wu, H., Walker, Q., Ayoade, O., Cotic, N., Behar, J., Williams, S., Arujuna, A., Noh, Y., Housden, R., & Rhode, K. (2023). Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 6851-6858). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA48891.2023.10160254

Zeidan, Aya Mutaz ; Xu, Zhouyang ; Mower, Christopher E. et al. / Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation. 2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers Inc., 2023. pp. 6851-6858 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation",

abstract = "Transseptal puncture (TSP) is a prerequisite for left atrial catheter ablation for atrial fibrillation, requiring access from the right side of the heart. It is a demanding procedural step associated with complications, including inadvertent puncturing and application of large forces on the tissue wall. Robotic systems have shown great potential to overcome such challenges by introducing force-sensing capabilities and increased precision and localization accuracy. Therefore, this work introduces the design and development of a novel robotic system developed to perform TSP. We integrated optoelectronic sensors into the tools' fixtures, measuring tissue contact and puncture forces along one axis. The novelty of this design is in the system's ability to manipulate a Brockenbrough (BRK) needle and dilator-sheath simultaneously and measure tissue contact and puncture forces. In performing puncture experiments on anthropomorphic tissue models, an average puncture force of 3.97 ± 0.45 N (1SD) was established - similar to the force reported in literature on the manual procedure. This research highlights the potential for improving patient safety by enforcing force constraints, paving the way to more automated and safer TSP.",

author = "Zeidan, {Aya Mutaz} and Zhouyang Xu and Mower, {Christopher E.} and Honglei Wu and Quentin Walker and Oyinkansola Ayoade and Natalia Cotic and Jonathan Behar and Steven Williams and Aruna Arujuna and Yohan Noh and Richard Housden and Kawal Rhode",

note = "Funding Information: This research was supported by the Wellcome Centre for Medical Engineering at King's College London and the British Heart Foundation (BHF) Centre of Excellence at King's College London. The authors acknowledge support from the Department of Health and Social Care (DHSC) through the National Institute for Health and Care Research (NIHR) MedTech and Vitro Diagnostic Co-operative (MIC) award for Cardiovascular Diseases to Guy's St Thomas' NHS Foundation Trust in partnership with King's College London. Christopher E. Mower is supported by the FAROS project and has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 101016985. Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023",

year = "2023",

month = jul,

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doi = "10.1109/ICRA48891.2023.10160254",

language = "English",

isbn = "9798350323665",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Zeidan, AM , Xu, Z , Mower, CE, Wu, H, Walker, Q, Ayoade, O, Cotic, N , Behar, J , Williams, S , Arujuna, A , Noh, Y , Housden, R & Rhode, K 2023, Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation. in 2023 IEEE International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation, vol. 2023-May, Institute of Electrical and Electronics Engineers Inc., pp. 6851-6858, 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, London, United Kingdom, 29/05/2023. https://doi.org/10.1109/ICRA48891.2023.10160254

Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation. / Zeidan, Aya Mutaz ; Xu, Zhouyang ; Mower, Christopher E. et al.
2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers Inc., 2023. p. 6851-6858 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

TY - CHAP

T1 - Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

AU - Zeidan, Aya Mutaz

AU - Xu, Zhouyang

AU - Mower, Christopher E.

AU - Wu, Honglei

AU - Walker, Quentin

AU - Ayoade, Oyinkansola

AU - Cotic, Natalia

AU - Behar, Jonathan

AU - Williams, Steven

AU - Arujuna, Aruna

AU - Noh, Yohan

AU - Housden, Richard

AU - Rhode, Kawal

N1 - Funding Information: This research was supported by the Wellcome Centre for Medical Engineering at King's College London and the British Heart Foundation (BHF) Centre of Excellence at King's College London. The authors acknowledge support from the Department of Health and Social Care (DHSC) through the National Institute for Health and Care Research (NIHR) MedTech and Vitro Diagnostic Co-operative (MIC) award for Cardiovascular Diseases to Guy's St Thomas' NHS Foundation Trust in partnership with King's College London. Christopher E. Mower is supported by the FAROS project and has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 101016985. Publisher Copyright: © 2023 IEEE.

PY - 2023/7/4

Y1 - 2023/7/4

N2 - Transseptal puncture (TSP) is a prerequisite for left atrial catheter ablation for atrial fibrillation, requiring access from the right side of the heart. It is a demanding procedural step associated with complications, including inadvertent puncturing and application of large forces on the tissue wall. Robotic systems have shown great potential to overcome such challenges by introducing force-sensing capabilities and increased precision and localization accuracy. Therefore, this work introduces the design and development of a novel robotic system developed to perform TSP. We integrated optoelectronic sensors into the tools' fixtures, measuring tissue contact and puncture forces along one axis. The novelty of this design is in the system's ability to manipulate a Brockenbrough (BRK) needle and dilator-sheath simultaneously and measure tissue contact and puncture forces. In performing puncture experiments on anthropomorphic tissue models, an average puncture force of 3.97 ± 0.45 N (1SD) was established - similar to the force reported in literature on the manual procedure. This research highlights the potential for improving patient safety by enforcing force constraints, paving the way to more automated and safer TSP.

AB - Transseptal puncture (TSP) is a prerequisite for left atrial catheter ablation for atrial fibrillation, requiring access from the right side of the heart. It is a demanding procedural step associated with complications, including inadvertent puncturing and application of large forces on the tissue wall. Robotic systems have shown great potential to overcome such challenges by introducing force-sensing capabilities and increased precision and localization accuracy. Therefore, this work introduces the design and development of a novel robotic system developed to perform TSP. We integrated optoelectronic sensors into the tools' fixtures, measuring tissue contact and puncture forces along one axis. The novelty of this design is in the system's ability to manipulate a Brockenbrough (BRK) needle and dilator-sheath simultaneously and measure tissue contact and puncture forces. In performing puncture experiments on anthropomorphic tissue models, an average puncture force of 3.97 ± 0.45 N (1SD) was established - similar to the force reported in literature on the manual procedure. This research highlights the potential for improving patient safety by enforcing force constraints, paving the way to more automated and safer TSP.

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U2 - 10.1109/ICRA48891.2023.10160254

DO - 10.1109/ICRA48891.2023.10160254

M3 - Conference paper

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SN - 9798350323665

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - 2023 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023

Y2 - 29 May 2023 through 2 June 2023

ER -

Zeidan AM , Xu Z , Mower CE, Wu H, Walker Q, Ayoade O et al. Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation. In 2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers Inc. 2023. p. 6851-6858. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA48891.2023.10160254

Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

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