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Piskarev Y, Sun Y, Righi M, Boehler Q, Chautems C, Fischer C, Nelson BJ, Shintake J, Floreano D. Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2305537. [PMID: 38225742 DOI: 10.1002/advs.202305537] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/09/2023] [Revised: 12/13/2023] [Indexed: 01/17/2024]
Abstract
In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable-stiffness materials can enable higher dexterity and higher force application to human tissue. However, the long transition time between soft and rigid states leads to a significant increase in procedure duration. Here, a fast-response, multisegmented catheter is described for minimally invasive surgery made of variable-stiffness thread (FRVST) that encapsulates a helical cooling channel. The rapid stiffness change in the FRVST, composed of a nontoxic shape memory polymer, is achieved by an active cooling system that pumps water through the helical channel. The FRVST displays a 66 times stiffness change and a 26 times transition enhancement compare with the noncooled version. The catheter allows for selective bending of each segment up to 127° in air and up to 76° in water under an 80 mT external magnetic field. The inner working channel can be used for cooling an ablation tip during a procedure and for information exchange via the deployment of wires or surgical tools.
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Affiliation(s)
- Yegor Piskarev
- Laboratory of Intelligent Systems, Institute of Mechanical Engineering, School of Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| | - Yi Sun
- Laboratory of Intelligent Systems, Institute of Mechanical Engineering, School of Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| | - Matteo Righi
- Laboratory of Intelligent Systems, Institute of Mechanical Engineering, School of Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| | - Quentin Boehler
- Multi-Scale Robotics Lab, Tannenstrasse 3, ETH Zurich, Zurich, 8092, Switzerland
| | - Christophe Chautems
- Multi-Scale Robotics Lab, Tannenstrasse 3, ETH Zurich, Zurich, 8092, Switzerland
| | - Cedric Fischer
- Multi-Scale Robotics Lab, Tannenstrasse 3, ETH Zurich, Zurich, 8092, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Tannenstrasse 3, ETH Zurich, Zurich, 8092, Switzerland
| | - Jun Shintake
- Shintake Research Group, School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Dario Floreano
- Laboratory of Intelligent Systems, Institute of Mechanical Engineering, School of Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
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Fiek M, Gindele F, von Bary C, Muessig D, Lucic A, Hoffmann E, Reithmann C, Steinbeck G. Direct thermography-a new in vitro method to characterize temperature kinetics of ablation catheters. J Interv Card Electrophysiol 2013; 38:53-9. [PMID: 23851713 DOI: 10.1007/s10840-013-9815-5] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 10/12/2012] [Accepted: 05/23/2013] [Indexed: 10/26/2022]
Abstract
PURPOSE For the treatment of increasingly complex cardiac arrhythmias, new catheter designs as well as alternative energy sources are constantly being developed. However, there is presently no in vitro method available for assessment of the temperature changes induced at various myocardial levels during energy delivery. Therefore, our study was aimed at developing an in vitro model to record and display the temperature kinetics during ablation in the entire muscle cross section. METHODS AND RESULTS A sapphire glass pane was inserted into one wall of the in vitro experimental set-up. Due to its thermodynamic properties, the temperature distribution in an adjacent cross section of the cardiac muscle can be measured exactly ( 1 °C) through this pane by means of a thermography camera. Computer-supported image processing enables the colour-coded and two-dimensional display of the temperature kinetics during the energy application at any location of the myocardial cross section (± 0.5 mm). This new measuring methodology was validated by direct temperature measurements utilizing several intramyocardial thermo elements. CONCLUSION This new method allows a temporal and spatial analysis of the temperature phenomena during ablation without the interference and spatial limitation of intramyocardial temperature probes. New ablation technologies can thus be evaluated, independent of the catheter configuration or source of energy used.
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Affiliation(s)
- M Fiek
- Medical Hospital I, Klinikum Pasing, Steinerweg 5, 81241, Munich, Germany,
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Petrusca L, Salomir R, Milleret R, Pichot O, Rata M, Cotton F, Chapelon JY. Experimental investigation of thermal effects in HIFU-based external valvuloplasty with a non-spherical transducer, using high-resolution MR thermometry. Phys Med Biol 2009; 54:5123-38. [DOI: 10.1088/0031-9155/54/17/004] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023]
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