Unknown

Dataset Information

0

Robotic-assisted real-time MRI-guided TAVR: from system deployment to in vivo experiment in swine model.


ABSTRACT: PURPOSE:Real-time magnetic resonance imaging (rtMRI) guidance provides significant advantages during transcatheter aortic valve replacement (TAVR) as it provides superior real-time visualization and accurate device delivery tracking. However, performing a TAVR within an MRI scanner remains difficult due to a constrained procedural environment. To address these concerns, a magnetic resonance (MR)-compatible robotic system to assist in TAVR deployments was developed. This study evaluates the technical design and interface considerations of an MR-compatible robotic-assisted TAVR system with the purpose of demonstrating that such a system can be developed and executed safely and precisely in a preclinical model. METHODS:An MR-compatible robotic surgical assistant system was built for TAVR deployment. This system integrates a 5-degrees of freedom (DoF) robotic arm with a 3-DoF robotic valve delivery module. A user interface system was designed for procedural planning and real-time intraoperative manipulation of the robot. The robotic device was constructed of plastic materials, pneumatic actuators, and fiber-optical encoders. RESULTS:The mechanical profile and MR compatibility of the robotic system were evaluated. The system-level error based on a phantom model was 1.14 ± 0.33 mm. A self-expanding prosthesis was successfully deployed in eight Yorkshire swine under rtMRI guidance. Post-deployment imaging and necropsy confirmed placement of the stent within 3 mm of the aortic valve annulus. CONCLUSIONS:These phantom and in vivo studies demonstrate the feasibility and advantages of robotic-assisted TAVR under rtMRI guidance. This robotic system increases the precision of valve deployments, diminishes environmental constraints, and improves the overall success of TAVR.

SUBMITTER: Chan JL 

PROVIDER: S-EPMC6524142 | biostudies-literature | 2016 Oct

REPOSITORIES: biostudies-literature

altmetric image

Publications

Robotic-assisted real-time MRI-guided TAVR: from system deployment to in vivo experiment in swine model.

Chan Joshua L JL   Mazilu Dumitru D   Miller Justin G JG   Hunt Timothy T   Horvath Keith A KA   Li Ming M  

International journal of computer assisted radiology and surgery 20160531 10


<h4>Purpose</h4>Real-time magnetic resonance imaging (rtMRI) guidance provides significant advantages during transcatheter aortic valve replacement (TAVR) as it provides superior real-time visualization and accurate device delivery tracking. However, performing a TAVR within an MRI scanner remains difficult due to a constrained procedural environment. To address these concerns, a magnetic resonance (MR)-compatible robotic system to assist in TAVR deployments was developed. This study evaluates t  ...[more]

Similar Datasets

| S-EPMC1463249 | biostudies-literature
| S-EPMC7560864 | biostudies-literature
| S-EPMC8511036 | biostudies-literature
| S-EPMC6557837 | biostudies-other
| S-EPMC3889280 | biostudies-other
| S-EPMC2587284 | biostudies-literature
2016-06-01 | GSE63236 | GEO
| S-EPMC4523869 | biostudies-other
2016-06-01 | E-GEOD-63236 | biostudies-arrayexpress
| S-EPMC8117662 | biostudies-literature