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Robotic Ablation of Atrial Fibrillation
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A parallel wire robot for epicardial interventions.

Adam D Costanza, Nathan A Wood, Michael J Passineau

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 9, 2015
    PubMed
    Summary
    This summary is machine-generated.

    A novel robotic system adheres to the beating heart, enabling minimally invasive epicardial therapies without lung deflation or mechanical stabilization. This advancement offers a stable platform for complex cardiac procedures.

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    Area of Science:

    • Robotics
    • Minimally Invasive Surgery
    • Cardiovascular Interventions

    Background:

    • Minimally invasive beating-heart surgery typically requires lung deflation and mechanical stabilization.
    • Existing methods for epicardial access can be challenging and may necessitate invasive procedures.

    Purpose of the Study:

    • To design and test a planar parallel wire robot for minimally invasive epicardial therapies.
    • To provide a stable, self-adhering platform on the beating heart surface.
    • To eliminate the need for lung deflation and external heart stabilization.

    Main Methods:

    • A prototype planar parallel wire robot with three vacuum chambers and flexible arms was designed.
    • The robot adheres to the epicardium via suction, forming a triangular base.
    • A movable end-effector head is controlled by external actuators via cables for surgical tasks.

    Main Results:

    • The system was successfully deployed through a subxiphoid incision in vivo.
    • The robot adhered reliably to the surface of a beating heart.
    • The surgical tool head demonstrated controlled movement within the workspace.
    • Successful myocardial injections were performed in vivo.

    Conclusions:

    • The planar parallel wire robot is a viable solution for minimally invasive epicardial therapies.
    • The device offers a stable platform on the beating heart, simplifying procedures.
    • This technology has the potential to advance cardiac surgery by obviating traditional stabilization techniques.