CathROB: A Highly Compact and Versatile Remote Catheter Navigation System

Table 3

Results for remote RA mapping and RF ablation obtained during in vivo animal experiments.

	Map time (min)	Fluoroscopy time (min)	CARTO points	Target ablation sites	RF energy (W)	Ablation success
Case
1	35	13	53	RA isthmus	30	Yes
				RA pos. wall	35	Yes
2	44	19	65	RA isthmus	30	Yes
				RA post. wall	25	Yes
3	28	15	60	RA isthmus	35	Yes
				RA pos. wall	40	Yes
4	38	12	92	RA isthmus	25	Yes
				RA pos. wall	25	Yes
Mean	36	15	63
DS	7	3	8