Towards Autonomous Robotic Procedure for Ultrasound-Guided Percutaneous Cardiac Interventions for Mitral Valve Repair

The paper outlines the early stages of a robotic platform designed to improve safety and repeatability of Transcatheter Edge-to-Edge Repair (TEER) procedures. The platform integrates artificial intelligence (AI) software for image interpretation, sensor-equipped catheters for virtual monitoring, robotic actuators for manipulation, and a mixed-reality interface for real-time monitoring. The AI software can automatically identify Mitral Valve (MV) anatomical features from ultrasound images. The platform also includes a path planning module and an inverse kinematic controller for safe navigation. The use of novel sensors and automatic actuation allows for precise control. Real-time simulation of the catheter’s interactions provides accurate analysis of anatomical deformations. These developments represent significant progress in percutaneous intracardiac procedures, with the potential to make TEER procedures safer and more accessible.