Abstract
Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise alignment remains clinically challenging, even with contemporary robotic transcatheter aortic valve replacement (TAVR) devices, as this task is still performed manually. This paper proposes the development of a robotic transcatheter delivery system featuring an omnidirectional bending joint and an actuation system designed to enhance positional accuracy and precision in TAVR procedures. The preliminary experimental results validate the functionality of this novel robotic system.