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A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery

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A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery

Auteurs : Takeyoshi Ota ; Amir Degani ; David Schwartzman ; Brett Zubiate ; Jeremy Mcgarvey ; Howie Choset ; Marco A. Zenati

Source :

The Annals of thoracic surgery [ 0003-4975 ] ; 2009.

RBID : PMC:2691642

Abstract

Purpose

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.

Description

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.

Evaluation

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.

Conclusions

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:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC2691642

DOI: 10.1016/j.athoracsur.2008.10.026
PubMed: 19324161
PubMed Central: 2691642

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PMC:2691642

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery</title>
<author><name sortKey="Ota, Takeyoshi" sort="Ota, Takeyoshi" uniqKey="Ota T" first="Takeyoshi" last="Ota">Takeyoshi Ota</name>
</author>
<author><name sortKey="Degani, Amir" sort="Degani, Amir" uniqKey="Degani A" first="Amir" last="Degani">Amir Degani</name>
</author>
<author><name sortKey="Schwartzman, David" sort="Schwartzman, David" uniqKey="Schwartzman D" first="David" last="Schwartzman">David Schwartzman</name>
</author>
<author><name sortKey="Zubiate, Brett" sort="Zubiate, Brett" uniqKey="Zubiate B" first="Brett" last="Zubiate">Brett Zubiate</name>
</author>
<author><name sortKey="Mcgarvey, Jeremy" sort="Mcgarvey, Jeremy" uniqKey="Mcgarvey J" first="Jeremy" last="Mcgarvey">Jeremy Mcgarvey</name>
</author>
<author><name sortKey="Choset, Howie" sort="Choset, Howie" uniqKey="Choset H" first="Howie" last="Choset">Howie Choset</name>
</author>
<author><name sortKey="Zenati, Marco A" sort="Zenati, Marco A" uniqKey="Zenati M" first="Marco A." last="Zenati">Marco A. Zenati</name>
</author>
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<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery</title>
<author><name sortKey="Ota, Takeyoshi" sort="Ota, Takeyoshi" uniqKey="Ota T" first="Takeyoshi" last="Ota">Takeyoshi Ota</name>
</author>
<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>
</author>
<author><name sortKey="Mcgarvey, Jeremy" sort="Mcgarvey, Jeremy" uniqKey="Mcgarvey J" first="Jeremy" last="Mcgarvey">Jeremy Mcgarvey</name>
</author>
<author><name sortKey="Choset, Howie" sort="Choset, Howie" uniqKey="Choset H" first="Howie" last="Choset">Howie Choset</name>
</author>
<author><name sortKey="Zenati, Marco A" sort="Zenati, Marco A" uniqKey="Zenati M" first="Marco A." last="Zenati">Marco A. Zenati</name>
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<series><title level="j">The Annals of thoracic surgery</title>
<idno type="ISSN">0003-4975</idno>
<idno type="eISSN">1552-6259</idno>
<imprint><date when="2009">2009</date>
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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>
</sec>
</div>
</front>
</TEI>
<pmc article-type="research-article" xml:lang="EN"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
  <pmc-dir>properties manuscript</pmc-dir>
  <front><journal-meta><journal-id journal-id-type="nlm-journal-id">15030100R</journal-id>
<journal-id journal-id-type="pubmed-jr-id">648</journal-id>
<journal-id journal-id-type="nlm-ta">Ann Thorac Surg</journal-id>
<journal-title>The Annals of thoracic surgery</journal-title>
<issn pub-type="ppub">0003-4975</issn>
<issn pub-type="epub">1552-6259</issn>
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<article-meta><article-id pub-id-type="pmid">19324161</article-id>
<article-id pub-id-type="pmc">2691642</article-id>
<article-id pub-id-type="manuscript">NIHMS80020</article-id>
<article-id pub-id-type="doi">10.1016/j.athoracsur.2008.10.026</article-id>
<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
</subj-group>
</article-categories>
<title-group><article-title>A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery</article-title>
</title-group>
<contrib-group><contrib contrib-type="author"><name><surname>Ota</surname>
<given-names>Takeyoshi</given-names>
</name>
<degrees>MD, PhD</degrees>
</contrib>
<contrib contrib-type="author"><name><surname>Degani</surname>
<given-names>Amir</given-names>
</name>
<degrees>MS</degrees>
</contrib>
<contrib contrib-type="author"><name><surname>Schwartzman</surname>
<given-names>David</given-names>
</name>
<degrees>MD</degrees>
</contrib>
<contrib contrib-type="author"><name><surname>Zubiate</surname>
<given-names>Brett</given-names>
</name>
<degrees>BS</degrees>
</contrib>
<contrib contrib-type="author"><name><surname>McGarvey</surname>
<given-names>Jeremy</given-names>
</name>
<degrees>MD</degrees>
</contrib>
<contrib contrib-type="author"><name><surname>Choset</surname>
<given-names>Howie</given-names>
</name>
<degrees>PhD</degrees>
</contrib>
<contrib contrib-type="author"><name><surname>Zenati</surname>
<given-names>Marco A.</given-names>
</name>
<degrees>MD</degrees>
</contrib>
<aff id="A1">Division of Cardiac Surgery, Cardiovascular Institute, Bioengineering Department, University of Pittsburgh, The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania</aff>
</contrib-group>
<author-notes><corresp id="cor1">Address correspondence to Dr Zenati, Division of Cardiac Surgery, University of Pittsburgh, 200 Lothrop St, PUH C-700, Pittsburgh, PA 15213; e-mail: <email>zenatim@upmc.edu</email>
</corresp>
</author-notes>
<pub-date pub-type="nihms-submitted"><day>1</day>
<month>4</month>
<year>2009</year>
</pub-date>
<pub-date pub-type="ppub"><month>4</month>
<year>2009</year>
</pub-date>
<pub-date pub-type="pmc-release"><day>5</day>
<month>6</month>
<year>2009</year>
</pub-date>
<volume>87</volume>
<issue>4</issue>
<fpage>1253</fpage>
<lpage>1256</lpage>
<permissions><copyright-statement>© 2009 by The Society of Thoracic Surgeons.</copyright-statement>
<copyright-year>2009</copyright-year>
</permissions>
<abstract><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>
</sec>
</abstract>
<contract-num rid="HL1">R01 HL079940-03</contract-num>
<contract-sponsor id="HL1">National Heart, Lung, and Blood Institute : NHLBI</contract-sponsor>
</article-meta>
</front>
</pmc>
</record>

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A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery

A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery

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Abstract

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