DocumentCode :
3060118
Title :
A novel highly articulated robotic surgical system for epicardial ablation
Author :
Ota, Takeyoshi ; Degani, Amir ; Schwartzman, David ; Zubiate, Brett ; McGarvey, Jeremy ; Choset, Howie ; Zenati, Marco A.
Author_Institution :
Division of Cardiac Surgery, University of Pittsburgh, Pennsylvania, USA
fYear :
2008
fDate :
20-25 Aug. 2008
Firstpage :
250
Lastpage :
253
Abstract :
We have developed a novel, highly articulated robotic surgical system to enable minimally invasive intrapericardial interventions through a subxiphoid approach and have performed preliminary tests of epicardial left atrial ablation in porcine (N = 3) and human cadaver (N = 2) preparations. In this study, the novel highly articulated robotic surgical system successfully provided safe epicardial ablations to the left atrium in porcine beating heart models via a subxiphoid approach. We have also performed complex guidance of the robot and subsequent ablation in a cadaveric preparation for successful pulmonary vein isolation.
Keywords :
Animals; Cadaver; Heart; Humans; Lesions; Minimally invasive surgery; Optical fibers; Radio frequency; Robots; USA Councils; Animals; Cardiovascular Surgical Procedures; Catheter Ablation; Equipment Design; Equipment Failure Analysis; Pericardium; Reproducibility of Results; Robotics; Sensitivity and Specificity; Surgery, Computer-Assisted; Swine; User-Computer Interface;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE
Conference_Location :
Vancouver, BC
ISSN :
1557-170X
Print_ISBN :
978-1-4244-1814-5
Electronic_ISBN :
1557-170X
Type :
conf
DOI :
10.1109/IEMBS.2008.4649137
Filename :
4649137
Link To Document :
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