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Robotic Ablation of Atrial Fibrillation

Robotic Ablation of Atrial Fibrillation

Published on: May 29, 2015

Surgical robotic arm control for tissue ablation.

Ibrahim M Mehedi^1,2, K Prahlad Rao³

¹Department of Electrical and Computer Engineering (ECE), Faculty of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia. imehedi@kau.edu.sa.

Journal of Robotic Surgery

|March 29, 2020

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This study introduces a novel robotic surgical arm with a flexible joint and a non-integer order controller for precise tissue ablation. The cost-effective system minimizes human error in minimally invasive procedures.

Area of Science:

Robotics
Surgical Technology
Control Systems Engineering

Background:

Robot-assisted surgery offers advancements over traditional laparoscopic methods.
Minimally invasive procedures often require precise tissue removal, such as excision biopsies or tangential excisions.

Purpose of the Study:

To design and develop a novel robotic surgical arm for precise tissue ablation in minimally invasive procedures.
To control the surgical arm's motion using a newly designed non-integer order controller.

Main Methods:

A surgical arm was designed with a rotary flexible joint, a medical-grade scalpel, and a DC servo motor.
A non-integer order controller was developed to govern the surgical arm's motion.
In-vitro experiments were conducted to demonstrate the system's tissue ablation capabilities.

Keywords:

Flexible rotary joint Non-integer order controller Scalpel Surgical robotic arm Tissue ablation

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Main Results:

The developed surgical robotic arm demonstrated high precision in ablating tissue in-vitro.
The system is cost-effective and designed to be free from potential human errors.
The non-integer order controller effectively managed the surgical arm's motion.

Conclusions:

The designed robotic surgical arm is a viable, precise, and cost-effective tool for specific minimally invasive surgical tasks.
The novel control system enhances the accuracy and reliability of robotic surgery.
This technology has the potential to improve patient outcomes in procedures requiring delicate tissue manipulation.