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. 2006;2006(1642343):4167-4172.
doi: 10.1109/ROBOT.2006.1642343.

Highly Articulated Robotic Probe for Minimally Invasive Surgery

Amir Degani  1 , Howie Choset, Brett Zubiate, Takeyoshi Ota, Marco Zenati
Affiliations

Highly Articulated Robotic Probe for Minimally Invasive Surgery

Amir Degani et al. Conf Proc IEEE Eng Med Biol Soc. 2006.

Abstract

We have developed a novel highly articulated robotic probe (HARP) that can thread through tightly packed volumes without disturbing the surrounding tissues and organs. We use cardiac surgery as the focal application of this work. As such, we have designed the HARP to enter the pericardial cavity through a subxiphoid port. The surgeon can effectively reach remote intrapericardial locations on the epicardium and deliver therapeutic interventions under direct control. Our device differs from others in that we use conventional actuation and still have great maneuverability. We have performed proof-of-concept clinical experiments to give us preliminary validation of the ideas presented here.

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Figures

Figure 1
Figure 1
HARP is shown as a snake-like mechanism protruding from a current feeder mechanism rigidly attached to the operating table.
Figure 2
Figure 2
A, The robot is mounted on the table. A small incision is made at the subxiphoid (arrow 1). Visualization is achieved by a thoracoscope inserted from the left thoracic wall (arrow 2). B and C, The robot advances forward into the intrapericardial space through the subxiphoid incision.
Figure 3
Figure 3
Tip of the robot and the ablation catheter (arrows) are seen through the pericardium. S indicates tip of the probe; LA, left atrium.
Figure 4
Figure 4
A, The excised heart. No injury is observed on the surface of the heart except ablated points (arrows). B and C, Triphenyltetrazolium chloride stain. Transmural ablation is confirmed (arrow).
See this image and copyright information in PMC

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