A multifunctional soft robot for cardiac interventions

Jacob Rogatinsky; Dominic Recco; Joseph Feichtmeier; Yuan Kang; Nicholas Kneier; Peter Hammer; Edward O’Leary; Douglas Mah; David Hoganson; Nikolay V. Vasilyev; Tommaso Ranzani

doi:10.1126/sciadv.adi5559

journal article Oct 27, 2023

A multifunctional soft robot for cardiac interventions

Jacob Rogatinsky

Dominic Recco Joseph Feichtmeier

Yuan Kang Nicholas Kneier Peter Hammer

Edward O’Leary Douglas Mah David Hoganson

Nikolay V. Vasilyev

Tommaso Ranzani

Science Advances Vol. 9 No. 43 · American Association for the Advancement of Science (AAAS)

View at Publisher Save 10.1126/sciadv.adi5559

Abstract

In minimally invasive endovascular procedures, surgeons rely on catheters with low dexterity and high aspect ratios to reach an anatomical target. However, the environment inside the beating heart presents a combination of challenges unique to few anatomic locations, making it difficult for interventional tools to maneuver dexterously and apply substantial forces on an intracardiac target. We demonstrate a millimeter-scale soft robotic platform that can deploy and self-stabilize at the entrance to the heart, and guide existing interventional tools toward a target site. In two exemplar intracardiac procedures within the right atrium, the robotic platform provides enough dexterity to reach multiple anatomical targets, enough stability to maintain constant contact on motile targets, and enough mechanical leverage to generate newton-level forces. Because the device addresses ongoing challenges in minimally invasive intracardiac intervention, it may enable the further development of catheter-based interventions.

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References

Details

Published: Oct 27, 2023
Vol/Issue: 9(43)

Authors

J

Jacob Rogatinsky

Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.

D

Dominic Recco

Department of Cardiac Surgery, Boston Children’s Hospital, Boston, MA 02115, USA.

J

Joseph Feichtmeier

Boston University School of Medicine, Boston, MA 02118, USA.

Y

Yuan Kang

Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.

N

Nicholas Kneier

Department of Cardiac Surgery, Boston Children’s Hospital, Boston, MA 02115, USA.

P

Peter Hammer

Department of Cardiac Surgery, Boston Children’s Hospital, Boston, MA 02115, USA.

E

Edward O’Leary

Department of Cardiology, Boston Children’s Hospital, Boston, MA 02115, USA.

D

Douglas Mah

Department of Cardiology, Boston Children’s Hospital, Boston, MA 02115, USA.

D

David Hoganson

Department of Cardiac Surgery, Boston Children’s Hospital, Boston, MA 02115, USA.

N

Nikolay V. Vasilyev

Department of Cardiac Surgery, Boston Children’s Hospital, Boston, MA 02115, USA.

T

Tommaso Ranzani

Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA.

Cite This Article

Jacob Rogatinsky, Dominic Recco, Joseph Feichtmeier, et al. (2023). A multifunctional soft robot for cardiac interventions. Science Advances, 9(43). https://doi.org/10.1126/sciadv.adi5559

A multifunctional soft robot for cardiac interventions

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