SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions

Aya Mutaz Zeidan; Zhouyang Xu; Christopher E Mower; Weizhao Wang; Lisa Leung; Calum Byrne; Christopher Aldo Rinaldi; John Whitaker; Steven E Williams; Jonathan Behar; Lukas Lindenroth; Yohan Noh; Aruna Arujuna; R James Housden; Kawal Rhode

doi:10.1109/TBME.2025.3561111

SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions

Aya Mutaz Zeidan, Zhouyang Xu, Christopher E Mower, Weizhao Wang, Lisa Leung, Calum Byrne, Christopher Aldo Rinaldi, John Whitaker, Steven E Williams, Jonathan Behar, Lukas Lindenroth, Yohan Noh, Aruna Arujuna, R James Housden, Kawal Rhode

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Abstract

OBJECTIVE: This study aimed to develop and evaluate the SeptalPro system, a novel robotic platform designed to enhance the precision, safety, and efficiency of transseptal puncture (TSP) procedures by integrating real-time remote control and force sensing.

METHODS: The SeptalPro system was assessed using an anthropomorphic phantom in a simulated clinical environment. Four experienced cardiologists and one cardiology trainee participated in the study, performing manual and robot-assisted TSP procedures. The system's performance was evaluated using trajectory and motion smoothness metrics, as well as user feedback on the system's usability in a clinical environment.

RESULTS: The robot-assisted approach demonstrated superior spatial control compared to the manual approach, with significantly shorter path lengths and reduced spatial dispersion for experienced operators. The SeptalPro system also achieved smoother and more efficient tool motions, as indicated by reduced mean motion jerk. User feedback indicated high satisfaction with the system's usability and potential clinical benefits.

CONCLUSION: SeptalPro represents a significant advancement in TSP, offering a promising solution to the challenges associated with the conventional manual approach. The robotic system demonstrated superior performance in terms of spatial control and motion smoothness compared to the manual approach.

SIGNIFICANCE: This work establishes the first comprehensive framework for evaluating robotic TSP systems through integration of high-precision force sensing, clinically-validated performance metrics, and structured assessment protocols, providing essential foundations towards clinical translation of robotic assistance in TSP procedures.

Original language	English
Journal	IEEE Transactions on Biomedical Engineering
Volume	PP
DOIs	https://doi.org/10.1109/TBME.2025.3561111
Publication status	E-pub ahead of print - 15 Apr 2025

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SeptalPro_Development_and_Usability_Evaluation_of_a_Force-Sensing_Robotic_Transseptal_Puncture_System_for_Cardiac_InterventionsFinal published version, 21.7 MBLicence: CC BY

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Zeidan, A. M., Xu, Z., Mower, C. E., Wang, W., Leung, L., Byrne, C., Rinaldi, C. A., Whitaker, J., Williams, S. E., Behar, J., Lindenroth, L., Noh, Y., Arujuna, A., Housden, R. J., & Rhode, K. (2025). SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions. IEEE Transactions on Biomedical Engineering, PP. Advance online publication. https://doi.org/10.1109/TBME.2025.3561111

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title = "SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions",

abstract = "OBJECTIVE: This study aimed to develop and evaluate the SeptalPro system, a novel robotic platform designed to enhance the precision, safety, and efficiency of transseptal puncture (TSP) procedures by integrating real-time remote control and force sensing.METHODS: The SeptalPro system was assessed using an anthropomorphic phantom in a simulated clinical environment. Four experienced cardiologists and one cardiology trainee participated in the study, performing manual and robot-assisted TSP procedures. The system's performance was evaluated using trajectory and motion smoothness metrics, as well as user feedback on the system's usability in a clinical environment.RESULTS: The robot-assisted approach demonstrated superior spatial control compared to the manual approach, with significantly shorter path lengths and reduced spatial dispersion for experienced operators. The SeptalPro system also achieved smoother and more efficient tool motions, as indicated by reduced mean motion jerk. User feedback indicated high satisfaction with the system's usability and potential clinical benefits.CONCLUSION: SeptalPro represents a significant advancement in TSP, offering a promising solution to the challenges associated with the conventional manual approach. The robotic system demonstrated superior performance in terms of spatial control and motion smoothness compared to the manual approach.SIGNIFICANCE: This work establishes the first comprehensive framework for evaluating robotic TSP systems through integration of high-precision force sensing, clinically-validated performance metrics, and structured assessment protocols, providing essential foundations towards clinical translation of robotic assistance in TSP procedures.",

author = "Zeidan, {Aya Mutaz} and Zhouyang Xu and Mower, {Christopher E} and Weizhao Wang and Lisa Leung and Calum Byrne and Rinaldi, {Christopher Aldo} and John Whitaker and Williams, {Steven E} and Jonathan Behar and Lukas Lindenroth and Yohan Noh and Aruna Arujuna and Housden, {R James} and Kawal Rhode",

note = "Publisher Copyright: {\textcopyright} 1964-2012 IEEE.",

year = "2025",

month = apr,

day = "15",

doi = "10.1109/TBME.2025.3561111",

language = "English",

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journal = "IEEE Transactions on Biomedical Engineering",

issn = "0018-9294",

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Zeidan, AM , Xu, Z , Mower, CE , Wang, W, Leung, L, Byrne, C, Rinaldi, CA , Whitaker, J , Williams, SE , Behar, J , Lindenroth, L , Noh, Y , Arujuna, A , Housden, RJ & Rhode, K 2025, 'SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions', IEEE Transactions on Biomedical Engineering, vol. PP. https://doi.org/10.1109/TBME.2025.3561111

TY - JOUR

T1 - SeptalPro

T2 - Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions

AU - Zeidan, Aya Mutaz

AU - Xu, Zhouyang

AU - Mower, Christopher E

AU - Wang, Weizhao

AU - Leung, Lisa

AU - Byrne, Calum

AU - Rinaldi, Christopher Aldo

AU - Whitaker, John

AU - Williams, Steven E

AU - Behar, Jonathan

AU - Lindenroth, Lukas

AU - Noh, Yohan

AU - Arujuna, Aruna

AU - Housden, R James

AU - Rhode, Kawal

PY - 2025/4/15

Y1 - 2025/4/15

N2 - OBJECTIVE: This study aimed to develop and evaluate the SeptalPro system, a novel robotic platform designed to enhance the precision, safety, and efficiency of transseptal puncture (TSP) procedures by integrating real-time remote control and force sensing.METHODS: The SeptalPro system was assessed using an anthropomorphic phantom in a simulated clinical environment. Four experienced cardiologists and one cardiology trainee participated in the study, performing manual and robot-assisted TSP procedures. The system's performance was evaluated using trajectory and motion smoothness metrics, as well as user feedback on the system's usability in a clinical environment.RESULTS: The robot-assisted approach demonstrated superior spatial control compared to the manual approach, with significantly shorter path lengths and reduced spatial dispersion for experienced operators. The SeptalPro system also achieved smoother and more efficient tool motions, as indicated by reduced mean motion jerk. User feedback indicated high satisfaction with the system's usability and potential clinical benefits.CONCLUSION: SeptalPro represents a significant advancement in TSP, offering a promising solution to the challenges associated with the conventional manual approach. The robotic system demonstrated superior performance in terms of spatial control and motion smoothness compared to the manual approach.SIGNIFICANCE: This work establishes the first comprehensive framework for evaluating robotic TSP systems through integration of high-precision force sensing, clinically-validated performance metrics, and structured assessment protocols, providing essential foundations towards clinical translation of robotic assistance in TSP procedures.

AB - OBJECTIVE: This study aimed to develop and evaluate the SeptalPro system, a novel robotic platform designed to enhance the precision, safety, and efficiency of transseptal puncture (TSP) procedures by integrating real-time remote control and force sensing.METHODS: The SeptalPro system was assessed using an anthropomorphic phantom in a simulated clinical environment. Four experienced cardiologists and one cardiology trainee participated in the study, performing manual and robot-assisted TSP procedures. The system's performance was evaluated using trajectory and motion smoothness metrics, as well as user feedback on the system's usability in a clinical environment.RESULTS: The robot-assisted approach demonstrated superior spatial control compared to the manual approach, with significantly shorter path lengths and reduced spatial dispersion for experienced operators. The SeptalPro system also achieved smoother and more efficient tool motions, as indicated by reduced mean motion jerk. User feedback indicated high satisfaction with the system's usability and potential clinical benefits.CONCLUSION: SeptalPro represents a significant advancement in TSP, offering a promising solution to the challenges associated with the conventional manual approach. The robotic system demonstrated superior performance in terms of spatial control and motion smoothness compared to the manual approach.SIGNIFICANCE: This work establishes the first comprehensive framework for evaluating robotic TSP systems through integration of high-precision force sensing, clinically-validated performance metrics, and structured assessment protocols, providing essential foundations towards clinical translation of robotic assistance in TSP procedures.

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U2 - 10.1109/TBME.2025.3561111

DO - 10.1109/TBME.2025.3561111

M3 - Article

C2 - 40232905

SN - 0018-9294

VL - PP

JO - IEEE Transactions on Biomedical Engineering

JF - IEEE Transactions on Biomedical Engineering

ER -

SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions

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