Highly Articulated Robotic Probe for Minimally Invasive Surgery

Area of Science:

• Robotics and Mechanical Engineering
• Surgical Technology
• Biomedical Devices

Background:

• Minimally invasive cardiac surgery requires advanced tools for precise tissue manipulation.
• Accessing deep intrapericardial locations can be challenging with conventional instruments.
• Existing robotic systems may lack the necessary articulation for complex cardiac procedures.

Purpose of the Study:

• To develop and validate a novel highly articulated robotic probe (HARP) for cardiac surgery.
• To enable surgeons to reach and treat remote intrapericardial locations with high precision.
• To demonstrate the HARP's maneuverability and ability to navigate confined anatomical spaces without causing collateral damage.

Main Methods:

• Development of a highly articulated robotic probe (HARP) utilizing conventional actuation methods.
• Design of the HARP for entry into the pericardial cavity via a subxiphoid port.
• Proof-of-concept clinical experiments for preliminary validation.

Main Results:

• The HARP demonstrated the ability to thread through tightly packed volumes without disturbing surrounding tissues and organs.
• The device achieved effective access to remote intrapericardial locations on the epicardium.
• Preliminary validation through proof-of-concept clinical experiments confirmed the system's feasibility.

Conclusions:

• The novel highly articulated robotic probe (HARP) is a promising tool for minimally invasive cardiac surgery.
• The HARP offers significant maneuverability for precise therapeutic interventions within the pericardial cavity.
• Further clinical validation is warranted to establish the full potential of this robotic system in cardiac procedures.