Over a million people in the U.S. undergo cardiac catheterization procedures every year. The Siemens AcuNav ICE catheter uses ultrasound to image the heart internally, providing visual feedback for diagnosis and surgeries. The traditional method of performing a cardiac catheterization involves 2-6 hours of focused, exhausting work from the clinician. Robotic control and actuation of the control knobs and pull wires would relieve the clinician of the tedious parts of the catheterization procedure. This would produce more consistent results, reducing experience and fatigue-based variability. This project aimed to reduce clinician involvement in navigating an ultrasound intracardiac catheter by developing a teleoperative robotic steering system. In the final prototype of this device, stepper motors power gears that rotate the catheter knobs and the entire handle of the catheter, providing three degrees of freedom. An Arduino Uno sends commands to the motor drivers based on keyboard inputs, allowing clinicians teleoperative control of the ICE catheter. The device is able to smoothly control the motion of the catheter tip and predict where the tip will be using a MATLAB simulation. This system builds the foundation for reducing clinician fatigue and eliminating variability in cardiac catheterization procedures.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• DeSanty, Megan
• Young, Rebecca
• Lachaux, Isabelle
• Minor, Elizabeth

Subject

• Health
• Computing
• Innovation
• Inclusion
• Well-Being
• Industry

Publisher

• Worcester Polytechnic Institute

Identifier

• 121602
• E-project-042424-223249

Keyword

• Medical Device
• Teleoperative
• Cardiac Catheterization
• Ultrasound
• Catheter
• Robotic System

Advisor

• Zhang, Haichong
• Zheng, Yihao
• Wei, Zhenglun Alan
• Fichera, Loris

Year

• 2024

UN Sustainable Development Goals

• 3 - Good Health and Well-being
• 9 - Industry, Innovation and Infrastructure
• 10 - Reducing Inequality

Date created

• 2024-04-24

Resource type

• Major Qualifying Project

Major

• Biomedical Engineering
• Robotics Engineering

Source

• E-project-042424-223249

Rights statement

• In Copyright