A robotic simulation platform for fluoroscopy-guided catheter navigation in transcatheter tricuspid valve intervention: system development and proof-of-concept applications.
H, L., D, C., KC, S., & S, W. (2026). A robotic simulation platform for fluoroscopy-guided catheter navigation in transcatheter tricuspid valve intervention: system development and proof-of-concept applications.. Journal of robotic surgery. https://doi.org/10.1007/s11701-026-03852-1
H L, D C, KC S, S W. A robotic simulation platform for fluoroscopy-guided catheter navigation in transcatheter tricuspid valve intervention: system development and proof-of-concept applications.. Journal of robotic surgery. 2026; doi: 10.1007/s11701-026-03852-1
H L, D C, KC S, et al. A robotic simulation platform for fluoroscopy-guided catheter navigation in transcatheter tricuspid valve intervention: system development and proof-of-concept applications.[J]. Journal of robotic surgery. 2026. DOI: 10.1007/s11701-026-03852-1.
@article{h2026,
author = {Lin H and Chen D and So KC and Wang S},
title = {A robotic simulation platform for fluoroscopy-guided catheter navigation in transcatheter tricuspid valve intervention: system development and proof-of-concept applications.},
journal = {Journal of robotic surgery},
year = {2026},
doi = {10.1007/s11701-026-03852-1},
note = {PMID: 42645724},
}
TY - JOUR AU - Lin H AU - Chen D AU - So KC AU - Wang S TI - A robotic simulation platform for fluoroscopy-guided catheter navigation in transcatheter tricuspid valve intervention: system development and proof-of-concept applications. T2 - Journal of robotic surgery PY - 2026 DO - 10.1007/s11701-026-03852-1 AN - PMID:42645724 ER -
Robot-assisted transcatheter tricuspid valve intervention requires operators to manipulate a flexible catheter through a robotic interface while interpreting two-dimensional fluoroscopic images. However, accessible platforms for robotic catheter training and image-guided control evaluation remain limited. This study presents a virtual-physical robotic simulation platform integrating a physically manipulated catheter, optical shape tracking, patient-specific cardiac anatomy, CT-derived virtual fluoroscopic projection rendering, and image-space anatomical augmentation. A client-server architecture was developed to separate robot control from computationally intensive image generation while providing continuous virtual fluoroscopic feedback. Two proof-of-concept applications were demonstrated to evaluate the capabilities of the platform. First, a paired operator study demonstrated that the platform could support measurable robotic catheter manipulation tasks under both raw and augmented virtual fluoroscopy. Second, an image-space catheter control experiment demonstrated that the same platform could support the repeatable implementation and evaluation of closed-loop robotic control using a physical catheter. These results demonstrate the technical feasibility of the proposed platform as an intermediate environment for robotic catheter operation studies, training-system development, and image-guided control evaluation before testing in a clinical catheterization laboratory.