Design and Development of a Robotic Transcatheter Delivery System for Aortic Valve Replacement

TL;DR

This paper introduces a novel robotic delivery system for transcatheter aortic valve replacement that aims to improve alignment accuracy and precision, addressing a key clinical challenge in minimally invasive cardiac procedures.

Contribution

The paper presents the design and development of a robotic TAVR system with an omnidirectional bending joint and actuation mechanism, enhancing procedural accuracy over existing manual methods.

Findings

Preliminary experiments validate the system’s functionality.

The robotic system improves positional accuracy in TAVR procedures.

The design facilitates better alignment of the valve during implantation.

Abstract

Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise alignment remains clinically challenging, even with contemporary robotic transcatheter aortic valve replacement (TAVR) devices, as this task is still performed manually. This paper proposes the development of a robotic transcatheter delivery system featuring an omnidirectional bending joint and an actuation system designed to enhance positional accuracy and precision in TAVR procedures. The preliminary experimental results validate the functionality of this novel robotic system.