Compact Design and Image-Space Pose Control of a Robot for Tendon-Driven Concentric Catheters in Mitral Repair Interventions

摘要

Accurate clip positioning (including position, direction, and orientation) in transcatheter mitral edge-to-edge repair (M-TEER) is challenging due to the complexity of manipulating tendon-driven concentric catheters under imaging guidance. Existing methods are limited to either task-space position/shape control or image-space joint control. This study presents a compact eight-degree-of-freedom robot for controlling the PASCAL device, achieving closed-loop pose control in image space. Building on a prior variable curvature model, we develop a kinematic model that accounts for coupling between catheter handles and compensates for tip length variation. A prior sheath shape model is also integrated to support safer navigation in confined anatomy during clip adjustment. To achieve precise image-space pose control, we design a novel framework featuring a mapping strategy for independent control of clip position, direction, and orientation relative to registered imaging views, along with a Jacobian-based PID controller. Simulation results demonstrate effective independent control, with only direction adjustments exhibiting minor coupling with orientation (maximum deviation: 2.69°). Experiments show that closed-loop control effectively mitigates catheter misalignment and rubber deformation, achieving average positional and angular RMSEs to 0.52 mm and 0.61°. This robot provides precise, image-space pose control, which is expected to assist with the challenge of accurate clip positioning in M-TEER.