A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery
Identifieur interne : 004319 ( Main/Curation ); précédent : 004318; suivant : 004320A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery
Auteurs : Takeyoshi Ota ; Amir Degani ; David Schwartzman ; Brett Zubiate ; Jeremy Mcgarvey ; Howie Choset ; Marco A. ZenatiSource :
- The Annals of thoracic surgery [ 0003-4975 ] ; 2009.
Abstract
We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation.
CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field.
In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional (“linear”) left atrial ablation was successfully achieved without complications.
Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.
Url:
DOI: 10.1016/j.athoracsur.2008.10.026
PubMed: 19324161
PubMed Central: 2691642
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PMC:2691642Le document en format XML
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<author><name sortKey="Degani, Amir" sort="Degani, Amir" uniqKey="Degani A" first="Amir" last="Degani">Amir Degani</name>
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<author><name sortKey="Schwartzman, David" sort="Schwartzman, David" uniqKey="Schwartzman D" first="David" last="Schwartzman">David Schwartzman</name>
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<author><name sortKey="Zubiate, Brett" sort="Zubiate, Brett" uniqKey="Zubiate B" first="Brett" last="Zubiate">Brett Zubiate</name>
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<author><name sortKey="Mcgarvey, Jeremy" sort="Mcgarvey, Jeremy" uniqKey="Mcgarvey J" first="Jeremy" last="Mcgarvey">Jeremy Mcgarvey</name>
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<author><name sortKey="Choset, Howie" sort="Choset, Howie" uniqKey="Choset H" first="Howie" last="Choset">Howie Choset</name>
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<author><name sortKey="Schwartzman, David" sort="Schwartzman, David" uniqKey="Schwartzman D" first="David" last="Schwartzman">David Schwartzman</name>
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<front><div type="abstract" xml:lang="en"><sec id="S1"><title>Purpose</title>
<p id="P1">We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation.</p>
</sec>
<sec id="S2"><title>Description</title>
<p id="P2">CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field.</p>
</sec>
<sec id="S3"><title>Evaluation</title>
<p id="P3">In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional (“linear”) left atrial ablation was successfully achieved without complications.</p>
</sec>
<sec id="S4"><title>Conclusions</title>
<p id="P4">Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.</p>
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