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Intra-cardiac Echocardiography (ICE) is a powerful imaging modality forguiding electrophysiology and structural heart interventions. ICE providesreal-time observation of anatomy, catheters, and emergent complications.However, this increased reliance on intraprocedural imaging creates a highcognitive demand on physicians who can often serve as interventionalist andimager. We present a robotic manipulator for ICE catheters to assist physicianswith imaging and serve as a platform for developing processes for proceduralautomation. Herein, we introduce two application modules towards these goals:(1) a view recovery process that allows physicians to save views duringintervention and automatically return with the push of a button and (2) adata-driven approach to compensate kinematic model errors that result fromnon-linear behaviors in catheter bending, providing more precise control of thecatheter tip. View recovery is validated by repeated catheter positioning incardiac phantom and animal experiments with position- and image-based analysis.We present a simplified calibration approach for error compensation and verifywith complex rotation of the catheter in benchtop and phantom experiments undervarying realistic curvature conditions. Results support that a roboticmanipulator for ICE can provide an efficient and reproducible tool, potentiallyreducing execution time and promoting greater utilization of ICE imaging.

Towards Automatic Manipulation of Intra-cardiac Echocardiography Catheter