Soft Robotic Delivery of Coiled Anchors for Cardiac Interventions
Leonardo Zamora Yañez, Jacob Rogatinsky, Dominic Recco, Sang-Yoep Lee, Grace Matthews, Andrew P. Sabelhaus, David M. Hoganson, Tommaso Ranzani
Abstract
Trans-catheter cardiac intervention has become an increasingly available option for high-risk patients without the complications of open heart surgery. However, current catheter-based platforms suffer from a lack of dexterity, force application, and compliance required to perform complex intracardiac procedures. An exemplary task that would significantly ease minimally invasive intracardiac procedures is the implantation of anchor coils, which can be used to fix and implant various devices. We introduce a robotic platform capable of delivering anchor coils. We develop a kineto-statics model of the robotic platform and demonstrate low positional error. We leverage the passive compliance and high force output of the actuator in a multi-anchor delivery procedure against a motile <i>in-vitro</i> simulator with millimeter level accuracy.
BibTeX
@inproceedings{ral2025_softroboticdeliv,
title = {Soft Robotic Delivery of Coiled Anchors for Cardiac Interventions},
author = {Leonardo Zamora Yañez and Jacob Rogatinsky and Dominic Recco and Sang-Yoep Lee and Grace Matthews and Andrew P. Sabelhaus and David M. Hoganson and Tommaso Ranzani},
booktitle = {RA-L 2025},
year = {2025}
}