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Development of a Flexible Parallel Wire Robot for Epicardial Interventions.

Aman Ladak1, Johannes O Bonatti2, Roger J Hajjar3

  • 1Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
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PubMed
Summary

HeartPrinter, a novel robotic system for gene therapy delivery, successfully deployed onto a beating heart using a specialized introducer mechanism. The system demonstrated accurate positioning and registration, paving the way for epicardial applications.

Keywords:
beating‐heart surgerycable‐driven parallel robotsepicardial interventiongene therapyrobotic surgerysubxiphoid access

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Area of Science:

  • Robotics in Medicine
  • Biomedical Engineering
  • Minimally Invasive Surgery

Background:

  • HeartPrinter is a flexible parallel wire robot designed for gene therapy delivery to the beating heart.
  • It utilizes vacuum suction for adherence and a cable-actuated injector head for precise treatment application.
  • Deployment onto the epicardium necessitates an introducer mechanism and accurate registration of the robot's workspace and anatomical pose.

Purpose of the Study:

  • To present the components and introducer mechanism of the HeartPrinter system.
  • To evaluate the system's performance and accuracy on an artificial beating heart model.
  • To assess the feasibility of workspace determination and anatomical registration for epicardial robotic applications.

Main Methods:

  • Development and presentation of HeartPrinter's components and introducer mechanism.
  • Assessment of the system on an artificial beating heart.
  • Evaluation of the accuracy of base positioning and 3D heart scan registration.

Main Results:

  • The introducer mechanism successfully deployed HeartPrinter onto the artificial beating heart.
  • The robot's bases adhered effectively to the beating surface.
  • Accurate calculations for base positions and registration were achieved, with errors below 4 mm and 2 mm, respectively.

Conclusions:

  • The introducer mechanism enables HeartPrinter deployment onto the epicardium.
  • HeartPrinter components are capable of operating on the beating heart.
  • Workspace determination and registration are feasible preliminary concepts for robotic epicardial interventions.