Design and Performance Evaluation of a Remote Catheter Navigation System

A novel remote catheter navigation system has been developed to reduce physical stress and irradiation to the interventionalist during fluoroscopic X-ray guided catheter intervention. The unique teleoperated design of this system allows the interventionalist to apply conventional axial and radial motion, as used in current practice, to an input catheter placed in a radiation-safe location to control a second catheter placed inside the procedure room. A catheter sensor (used to measure motion of the input catheter) and a catheter manipulator (used to manipulate the second catheter) are both presented. Performance evaluation of the system was assessed by first conducting bench-top experiments to quantify accuracy and precision of both sensed and replicated motion, and then conducting two experiments to evaluate the latency from sensed to replicated motion. The first study consisted of replicating motions of prescribed motion trajectories, while the second study utilized eight operators to remotely navigate a catheter through a normal carotid model. The results show the system has the ability to sense and replicate motion to within 1 mm and 1^deg in the axial and radial directions, respectively. Remote catheter manipulation was found to be operator dependent and occurred under 300 ms. Future applications of this technology are then presented.