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Related Experiment Videos

Prototype epicardial crawling device for intrapericardial intervention on the beating heart.

Cameron N Riviere1, Nicholas A Patronik, Marco A Zenati

  • 1The Robotics Institute, Carnegie Mellon University.

The Heart Surgery Forum
|March 17, 2005
PubMed
Summary

A novel endoscopic robotic device adheres to the epicardium via suction, enabling minimally invasive beating-heart procedures. This inchworm-like robot navigates the heart

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Area of Science:

  • Medical Robotics
  • Minimally Invasive Surgery
  • Cardiovascular Interventions

Background:

  • Minimally invasive cardiac surgery often requires cardiopulmonary bypass and heart stabilization.
  • Accessing multiple sites on the epicardium can necessitate tool reinsertion, increasing procedure complexity and patient trauma.

Purpose of the Study:

  • To develop and preliminarily test a novel endoscopic robotic device for beating-heart intrapericardial interventions.
  • To assess the feasibility of a suction-adhering, inchworm-like navigation system for epicardial access.

Main Methods:

  • Concept development of an endoscopic robotic device with suction adherence and inchworm-like locomotion.
  • Integration of a working channel for surgical tools.
  • Preliminary testing in a porcine model using beating hearts.

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Main Results:

  • The prototype device demonstrated successful prehension, turning, and locomotion capabilities.
  • Successful navigation on beating hearts was achieved in a limited number of trials.
  • The device's design obviates the need for cardiac stabilization and differential lung ventilation.

Conclusions:

  • The developed endoscopic robotic device shows promise for facilitating minimally invasive beating-heart intrapericardial interventions.
  • This approach has the potential to reduce patient trauma by eliminating the need for cardiac stabilization and complex tool management.