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Atrial fibrillation (AF) and ventricular tachycardia (VT) are two of thesustained arrhythmias that significantly affect the quality of life ofpatients. Treatment of AF and VT often requires radiofrequency ablation ofheart tissues using an ablation catheter. Recent progress in ablation therapyleverages magnetic resonance imaging (MRI) for higher contrast visual feedback,and additionally utilizes a guiding sheath with an actively deflectable tip toimprove the dexterity of the catheter inside the heart. This paper presents thedesign and validation of an MR-conditional robotic module for automatedactuation of both the ablation catheter and the sheath. The robotic modulefeatures a compact design for improved accessibility inside the MR scanner boreand is driven by piezoelectric motors to ensure MR-conditionality. The combinedcatheter-sheath mechanism is essentially a concentric tendon-driven continuumrobot and its kinematics is modeled by the constant curvature model forclosed-loop position control. Path following experiments were conducted tovalidate the actuation module and control scheme, achieving < 2 mm average tipposition error.

MR-conditional Robotic Actuation of Concentric Tendon-Driven Cardiac Catheters