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Updated: May 2, 2026

Robotic Ablation of Atrial Fibrillation
Published on: May 29, 2015
Radiofrequency ablation annotation algorithm reduces the incidence of linear gaps and reconnection after pulmonary
Elad Anter1, Cory M Tschabrunn1, Fernando M Contreras-Valdes1
1Harvard-Thorndike Electrophysiology Institute, Beth Israel Deaconess Medical Center, Harvard Medical School, Boston, Massachusetts.
Background:
A common mechanism of atrial fibrillation recurrence after catheter ablation is resumption of pulmonary vein (PV) conduction due to gaps in the ablation line. These gaps may go unrecognized owing to inadequate ablation lesion annotation.
Objective:
To examine the utility of an automated radiofrequency (RF) ablation annotation algorithm for the detection and treatment of ablation gaps during pulmonary vein isolation (PVI).
Methods:
Eighty-four patients with paroxysmal atrial fibrillation underwent PVI. In 42 patients (group A), RF ablation was guided by an automated algorithm with predefined criteria of catheter stability range of motion ≤2 mm and impedance decrease ≥5% for individual ablation applications. In 42 control patients (group B), ablation was guided by the operator. Successful PVI, conduction recovery, and dormant conduction with adenosine were compared between the groups.
Results:
Ipsilateral PVI at the completion of the initial anatomical line was obtained in 90.5% of group A patients (76 of 84 ipsilateral pairs of PVs) but only in 66.7% of group B patients (56 of 84 ipsilateral pairs of PVs) (P = .0001). Ineffective energy delivery was detected in 23% (1005 of 4362) of group A applications but only in 9% (368 of 4071) of group B applications (P = .0001). The frequency of conduction recovery was lower in group A than in group B (5.9% vs 25%; P = .001). Arrhythmia-free survival at 6 months trended higher in group A (38 of 42 [90%]) than in group B (32 of 42 [76%]; P = .07).
Conclusion:
Automated ablation lesion annotation provides real-time feedback of RF ablation that may improve effective energy delivery.

