Autonomous robotic intracardiac catheter navigation using haptic vision

Haptic vision combines intracardiac endoscopy, machine learning, and image processing algorithms to form a hybrid imaging and touch sensor—providing clear images of whatever the catheter tip is touching while also identifying what it is touching (e.g., blood, tissue, and valve) and how hard it is pressing (Fig. 1A). In the continuous contact mode, catheter position with respect to the tissue surface was adjusted to maintain a specified contact area on the catheter tip (Fig. 1B) corresponding to a desired force. During autonomous catheter navigation to the leak location, both continuous and intermittent contact modes were used (Fig. 1D).

Source: robotics.sciencemag.org