Techniques for epicardial mapping and ablation with a miniature robotic walker
Dwight A Meglan1, Wener Lv2, Richard J Cohen3
1HeartLander Surgical Inc., Westwood, Massachusetts, USA.
Robotic Surgery (Auckland)
|October 3, 2017
Summary
This study explores a robotic walker for epicardial mapping and ablation to treat ventricular tachycardia. The system demonstrated precise targeting and depth control, showing feasibility for improved cardiac procedures.
Area of Science:
- Medical Robotics
- Cardiac Electrophysiology
- Minimally Invasive Surgery
Background:
- Current treatments for ventricular tachycardia have significant limitations.
- An epicardial robotic walker offers potential for precise mapping and ablation.
- This system aims to improve needle insertion depth control during procedures.
Purpose of the Study:
- To examine the feasibility of an epicardial robotic walker system.
- To develop techniques for epicardial mapping and depth-controlled ablation.
- To assess the system's precision and safety in simulated and animal models.
Main Methods:
- Utilized a single equivalent moving dipole model (SEDM) for mapping.
- Implemented saline-enhanced radiofrequency ablation with depth sensing.
- Validated mapping in artificial and porcine models; ablation in artificial and ex vivo tissue models.
Main Results:
- The robotic walker achieved target localization within 2 mm using the SEMDM technique.
- Epicardial damage was absent after in vivo porcine trials.
- Needle insertion depth was controlled within 2 mm, with repeatable lesion sizes based on saline volume.
Conclusions:
- The developed techniques for mapping and depth-controlled ablation with the robotic walker are generally feasible.
- The system shows promise for enhancing the precision and safety of epicardial interventions.
- Further development could lead to improved treatments for cardiac arrhythmias.
