Fig. 11:

Demonstrating the maneuverability of the robotic transcatheter system in a phantom heart through an outer sheath with a 90° bend. (a) Experimental setup, (b) robot states (control ON): i) The robotic transcatheter is manually guided into the left atrium, ii) the robot’s end tip is at the mitral valve opening, iii) the end tip is under the leaflet, iv) the end tip is retracted back to the mitral valve opening, and v) the end tip returns to the home configuration, and (c) comparison between control OFF and control ON modes for tracking the end tip position.