Biomedical Robotics RESEARCH

Robotization of a Trans-Oesophageal Echocardiography Probe

Research project focused on the development of a robotic assistance system for remote manipulation of a trans-oesophageal echocardiography (TOE) probe. The system aims to enhance safety, ergonomics, and precision in interventional cardiology, while reducing clinician exposure to ionizing radiation.

Medical Robotics Application Field

Remote Control System Approach

Image-Guided Navigation

Project Details

Project Context

Trans-oesophageal echocardiography (TOE) is a key imaging modality for guiding minimally invasive structural heart interventions. Its use in interventional settings requires continuous and precise probe manipulation under fluoroscopic guidance.

The objective was to robotically control the four main degrees of freedom of the TOE probe to closely replicate the clinician's manual gestures. The architecture was defined based on clinical observations during real MitraClip interventions.

TOE Probe 4-DOF Control MitraClip Fluoroscopy IHU Strasbourg

Four degrees of freedom of the TOE probe

Project Objectives

Robotic assistance for remote TOE probe manipulation
Reduce clinician exposure to X-ray radiation
Improve ergonomics and patient safety during long procedures
Repeatable and stable probe positioning
Integration with image-based guidance

Presentation & Technical Approach

Project Presentation Preview — 8 slides

For confidentiality reasons, only the first 8 slides are shown.

Technical Approach

Robotic interface engineered to replicate the clinician's four manual degrees of freedom with precision and safety.

Mechanical design tailored to clinical ergonomics and probe geometry

Image-based feedback for real-time probe positioning guidance

Focus on safety, force control and clinical workflow integration

Control of 4 DOF : anteflexion, rotation, insertion and lateral flex