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Introducer Design Concepts for an Epicardial Parallel Wire Robot.

Aman Ladak1, Deepika Dixit1, Michael S Halbreiner2

  • 1The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.

Robotic Surgery (Auckland)
|September 15, 2021
PubMed
Summary
This summary is machine-generated.

This study presents a novel robotic system for cardiac gene therapy delivery, featuring two introducer mechanisms for precise deployment on beating hearts. The developed introducer mechanisms prove feasible for epicardial interventions, ensuring consistent and reasonable procedure times and insertion forces.

Keywords:
beating-heart surgeryepicardial interventionrobotic surgerysubxiphoid access

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Area of Science:

  • Biomedical Engineering
  • Robotics in Medicine
  • Cardiovascular Interventions

Background:

  • Cardiac gene therapies require effective myocardial delivery methods.
  • Current direct injection techniques for cardiac gene therapy are limited to small regions and require multiple injections for homogenous expression.
  • A minimally invasive flexible parallel wire robot was developed for epicardial interventions.

Purpose of the Study:

  • To develop and evaluate introducer mechanisms for accurate deployment of a flexible parallel wire robot onto a beating heart.
  • To assess the feasibility of robotic epicardial interventions for cardiac gene therapy delivery.

Main Methods:

  • Two distinct introducer mechanisms were designed and fabricated.
  • The robot's positioning accuracy, procedure time, and pericardium insertion forces were evaluated.
  • Testing was conducted using an artificial beating heart model.

Main Results:

  • Successful positioning of the robot was achieved.
  • Mean procedure times were 230 ± 7 seconds (Mechanism I) and 259 ± 4 seconds (Mechanism II).
  • Mean pericardium insertion forces were 2.2 ± 0.4 N (anterior) and 3.1 ± 0.4 N (posterior).

Conclusions:

  • The developed introducer mechanisms are feasible for facilitating robotic deployment on the epicardium.
  • The system offers consistent and reasonable procedure times and pericardium insertion forces.
  • This technology advances minimally invasive cardiac interventions and gene therapy delivery.