Title: Design, Modeling, and Control of a Robotically Steerable Transcatheter Delivery System for Mitral Valve Implant

Date: Tuesday, December 12th, 2023

Time: 10:15 AM - 12:00 PM EST

Location: UAW 3115 - McIntire Conference Room

Virtual Link: Zoom

  Meeting ID: 969 8080 9292

    Passcode: 971105

Namrata Unnikrishnan Nayar

Robotics PhD Student

Woodruff School of Mechanical Engineering

Georgia Institute of Technology

Committee:

Dr. Jaydev P. Desai (Advisor)

Dr. Brooks Lindsey

Dr. Yue Chen

Dr. Jun Ueda

Dr. Levi Wood

Abstract:  

Mitral regurgitation (MR) is the most common valvular heart disease caused by the backflow of blood through the mitral valve (MV), from the left ventricle to the left atrium during systole. MR can cause fatigue, lightheadedness, breathlessness, and in critical cases even heart failure. Open-heart surgery is the gold-standard treatment, yet 50% of the MR patients are non-surgical candidates. As a result, transcatheter mitral valve repair (TMVR), a minimally invasive procedure, is gaining traction. Current TMVR devices, however, lack precision and expose clinical staff to an increased dosage of radiation due to manual actuation. The focus of this proposed work is to develop a robotically steerable transcatheter delivery system to precisely deploy an implant onto the MV, through a TMVR procedure. First, the system is meticulously designed and optimized to dexterously maneuver, position, and orient the implant to the MV, within the constraint workspace of the left atrium. Second, the system is modeled and controlled using sensor feedback and pose estimation is demonstrated using fluoroscopy. Finally, its effectiveness is evaluated through preclinical, ex-vivo, and in-vivo trials. Successful completion of the proposed work will be a step forward in creating a clinically acceptable robotically steerable transcatheter delivery system to treat MR.