This repository contains open-source resources for a modular robotic system, designed for catheter ablation procedures, and validated by trainees and cardiologists. However, the modular design of the robot encourages the application of the system in various fields requiring the use of catheters.
Please make sure to reference or acknowledge the use of our repository if you find it useful!
The robot is designed to manipulate commercial catheters in 3 degrees of freedom (DoF):
- Axial insertion/retraction
- Tool shaft rotation
- Catheter tip articulation
Independent actuators were employed for each DoF to enable flexible reconfiguration. The handle interface is easily customizable using silicone molds, thus able to accommodate various commercial catheters.
The repository contains:
- CAD models - 3D design files for mechanical parts.
- Catheter Library - 3D design files for 3 commercial catheter handles for ablation therapy and corresponding design files to develop silicone inserts for knob-based actuation module.
- Software - Control code, simulation (Blender Python API), data logger.
- Media - Photos and diagrams of the robot and the electronics.
- Clincal Feedback - Questionnaire and feedback results.
To build the robot system: 1.
| Part | Quantity | Estimated Cost |
|---|---|---|
| PLA 3D Printer Filament | 1kg | $20 |
| PETG 3D Printer Filament | 50g | $5 |
| TPU 3D Printer Filament | 50g | $5 |
| Nema 17 Stepper Motor | 1 | $50 |
| Nema 8 Stepper Motor w/ 19:1 Gearbox | 1 | $50 |
| SAVOX SC-1251 MG 9kg Servo | 1kg | $50 |
| 6ch Through-hold Slip Ring | 1kg | $50 |
| 3mm Aluminum Plate | 1kg | $5 |
| 38.1mm OD Aluminum Pipe | 0.5m | $5 |
| WS2812B Addressable LEDs | 1m | $15 |
| 12V Electromagnets | 5 | $30 |
| Limit Switches | 2 | $2 |
| 20T GT2 Gears | 2 | $5 |
| 208T GT2 Close Loop Belt | 1 | $5 |
| GT2 Belt | 0.8m | $5 |
| Arduino MKR Zero | 4 | $130 |
| Arduino CAN Bus Shield | 4 | $130 |
| Arduino RS485 Shield | 2 | $50 |
| PS5 Controller | 1 | $30 |
| Mil-Max Pogo Connectors Pair | 1 | $5 |
| Hall Effect Sensor w/ Magnets | 1 | $10 |
| TMC5160 Stepper Motor Driver | 2 | $30 |
| Estimated Total Cost: | - | $687 |
The design and validation are described in the following publication:
Reference article - https://doi.org/10.3390/robotics13050080
Xu, Z., Zeidan, A. M., He, Y., Leung, L., Byrne, C., Sabu, S., ... & Rhode, K. (2024). CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System. Robotics, 13(5), 80.
The contents of this repository are made available under the CC License. See LICENSE for details.
We welcome contributions - please submit pull requests! See CONTRIBUTING for guidelines.
Contact the team by email with any questions.