title: Quality of computer enhanced totally endoscopic coronary bypass graft anastomosis--comparison to conventional technique.
abstract: OBJECTIVE
  Aims of the study were to develop an endoscopic technique to perform robot assisted coronary anastomoses, using a computer enhanced telemanipulator and to compare the quality of the anastomoses with those performed using a standard open technique.
  
  
  METHODS
  A surgical telemanipulator with two instrument arms and a central videoscopic arm was used to perform remote endoscopic coronary artery bypass grafting on isolated porcine hearts. The end effectors and the videoscope were placed through three 10 mm port incisions. All anastomoses (Cx to LAD) were performed using a double armed 7-0 Prolene suture of 5 or 7 cm in length. All operations were performed remotely from the master console using ten times magnification, tremor filtering and 3:1 motion scaling. Initially 20 anastomoses were performed to develop and train the technique. Then, 20 robot-assisted anastomoses (group I) were compared with 20 anastomoses using a standard open parachute technique (group II). All anastomoses were checked for patency and leakage. Patency was confirmed by bench angiography. After fixation, all anastomoses were macroscopically evaluated for patency, intactness, alignment, intimal tears and dehiscence. Both angiographic and pathologic evaluations were performed with the examiners blinded to the technique of anastomosis.
  
  
  RESULTS
  In the initial feasibility series, time for anastomosis was 18.2 +/- 9.1 min. All anastomoses were patent although minor stenoses were found in two and minor leakage was noted in five anastomoses. In the second series all anastomoses were patent, not leaking and showed a good run-off at angiography. Mean time for anastomosis in group I was 12.8 +/- 2.4 min as compared with 6.3 +/- 0.2 min in group II (P < 0.001), respectively. Macroscopic analysis demonstrated equal quality for both groups. There were no stenoses, no intimal tears and no dehiscences. All anastomoses had a normal alignment and intact suture lines.
  
  
  CONCLUSIONS
  Using the Intuitive surgical telemanipulator, it is possible to remotely perform endoscopic coronary anastomoses with the same quality as with an open standard technique after a brief learning curve. This will enable true endoscopic coronary artery bypass grafting with a precision that has not been achieved with any other previously applied endoscopic technique.
authors.affiliation: The Department of Cardiac Surgery, Heartcenter, University of Leipzig, Germany. falv@.medizin.uni-leipzig.de
authors.forename: V
authors.initials: V
authors.lastname: Falk
authors.forename: J F
authors.initials: JF
authors.lastname: Gummert
authors.forename: T
authors.initials: T
authors.lastname: Walther
authors.forename: M
authors.initials: M
authors.lastname: Hayase
authors.forename: G J
authors.initials: GJ
authors.lastname: Berry
authors.forename: F W
authors.initials: FW
authors.lastname: Mohr
mesh_terms: D000714:Anastomosis, Surgical; D017023:Coronary Angiography; D001026:Coronary Artery Bypass / Q000379:methods*; D004724:Endoscopy / Q000379:methods*; D005240:Feasibility Studies; D006801:Humans; D012371:Robotics; D013536:Suture Techniques; D014654:Vascular Patency; D014741:Video Recording