Highly articulated robotic probe for minimally invasive surgery

Area of Science:

• Robotics
• Surgical Technology
• Medical Devices

Background:

• Minimally invasive cardiac surgery requires precise instruments for accessing delicate anatomical structures.
• Current robotic systems may lack the necessary articulation for navigating complex, confined spaces like the pericardial cavity.

Purpose of the Study:

• To introduce a novel highly articulated robotic probe (HARP) designed for cardiac surgery.
• To demonstrate the HARP's capability to navigate the pericardial cavity and reach remote epicardial locations.
• To validate the HARP's maneuverability and therapeutic delivery potential through clinical experiments.

Main Methods:

• Development of a highly articulated robotic probe (HARP) utilizing conventional actuation.
• Design of the HARP for insertion via a subxiphoid port into the pericardial cavity.
• Proof-of-concept clinical experiments to assess probe performance and control.

Main Results:

• The HARP successfully threaded through tightly packed volumes without disturbing surrounding tissues.
• The probe demonstrated effective reach to remote intrapericardial locations on the epicardium.
• Preliminary validation of the HARP's maneuverability and control was achieved in clinical settings.

Conclusions:

• The novel highly articulated robotic probe (HARP) offers a promising solution for minimally invasive cardiac interventions.
• The HARP's design allows for precise navigation and therapeutic delivery within the pericardial space.
• Further clinical validation is warranted to establish the HARP's full potential in cardiac surgery.