ABSTRACT RESULTS METHODOLOGY CONCLUSION APPROACH BIBLIOGRAPHY CONTACT Building A Robotic Catheter Device for Cardiac Ablations Combining Ultrasound Guidance With Motion Compensation Sarah Ahmed Al-Tarouti Mohammad Rahaman ABSTRACT RESULTS Advances in cardiac catheter technologies have allowed physicians to treat different complicated valvular thrombotic and cardiac rhythms conditions using minimally invasive techniques. While catheters can perform many functions inside the heart, they still come short in providing complex tissue modifications. The impairment risks come from the inability to compensate the motion of the cardiac tissue. Therefore, the conventional methods are unable to effectively track the intracardiac fast tissue motion potentially applying some damaging exertion. The robotic catheter introduced in this research is a catheter system that uses 3D ultrasound as image guidance with a control system to enable constant motion compensation while targeting the specific moving surface during ablation. The mapping system produces position-modulated force in real time to friction and hence damage. The initial concept and methodology have been discussed in several interviews with cardiologist interested in electrophysiology in Aurora Health Care medical center and Medical College of Wisconsin. The next step is an expected collaboration to test the module and system design in an in vivo condition. This project is intended to revolutionize cardiac ablations and surgeries. . Heart diseases are the most leading causes for death in industualized nations. The study is yet in its very first stages, we have been discussing ideas to reach the best approach when targeting the cardiac tissue. This remains the largest struggle considering the sensitivity and mobility of the heart. Working with the Engineer David Krum to discuss the best possible ways to do so. No Results to show yet since we are in the trial and error phase. METHODOLOGY CONCLUSION APPROACH 3D in Real Time And Tissue Tracking: The real time view allows the physician to deal with the procedure in 3D image volume. The control system transform the algorithms to he computer connected to the robotic device in which it processes where the target tissue is located on the axis of rotation of that catheter. The the clinician have a smooth operation since it is manually controlled and adjust by their end. Force Control: Force sensor on the tip of the catheter should apply a sufficient force to compensate the motion of the heart approximated at 5 N and a linear actuator and potentiometer. Time-Delay Compensation: The 3D ultrasound volumes will help physicians to predict the catheter path and trajectory in real time to reduce and compensate time delays. This study applies the Intracardiac Echocardiography, the 3D, catheter techniques to enable the orientation and monitoring of tissue interactions. This robotic system is innovative and has the potential to greatly increase the clinicians capabilities while reducing procedure times. Future work will focus on building the device and in vivo validation to current mathematical and physical theories. The robotic motion will depend on mainly two main engineering approaches that will minimize invasiveness and increase efficacy. 1.The Mechanical Design: The prototype relies on image based catheter control. The catheter is a long flexible tube that can be easily inserted into the heart via blood vessels. The flexibility of the catheter is important for dexterity and bending for tissue modification. Adding a force sensor at the tip helps targeting the moving tissue with stability and control. 2. The System Design: The Control System is to control the velocity and force friction of the module with a volumetric mapping technique. This will be performed by using a multi degrees of freedom to allow the catheter to track complex 3-D trajectories. This system will have sufficient acceleration to compensate the beating heart. An experimental system is being developed as of right now BIBLIOGRAPHY 1.Mountantonakis, Stavros, and Edward P. Gerstenfeld. "Atrial Tachycardias Occurring After Atrial Fibrillation Ablation: Strategies for Mapping and Ablation." Journal of Atrial Fibrillation 2.2 (2010): n. pag. Web. 2. Kesner, Samuel B., and Robert D. Howe. "Position Control of Motion Compensation Cardiac Catheters." IEEE Transactions on Robotics 27.6 (2011): 1045-055. Web. 3. Kesner, Samuel Benjamin, and Robert D. Howe. "Design and Control of Motion Compensation Cardiac Catheters." Digital Access to Scholarship at Harvard. Institute of Electrical and Electronics Engineers, 01 Jan. 1970. Web. 25 Mar. 2017. CONTACT INFORMATION Sarah Altarouti : altarou2@uwm.edu David Krum: david.krum@aurora.org Mohammed Rahaman: rahmanmh@uwm.edu