title: Robot-assisted computer enhanced closed-chest coronary surgery: preliminary experience using a Harmonic Scalpel and ZEUS.
abstract: BACKGROUND
  Successful endoscopic harvesting of arterial conduits is critical to the performance of totally endoscopic bypass grafting. Recent success with computer-enhanced robotic systems in the performance of endoscopic single vessel coronary artery bypass (ENDOCAB) has paved the way for developing techniques for multivessel ENDOCAB. The Harmonic Scalpel (Ethicon Endo-Surgery, Cincinnati, OH) has previously demonstrated versatility and efficacy in manual endoscopic internal thoracic artery (ITA) harvesting. This study was undertaken to determine the feasibility of adapting this technology to a robotic telemanipulation system and its safety and efficacy in telerobotic ITA harvesting.
  
  
  METHODS
  The Harmonic Scalpel was adapted to the ZEUS robotic surgical system (Computer Motion, Goleta, CA) and used to harvest the ITA in 19 patients undergoing multivessel off-pump coronary artery bypass (OPCAB) surgery. With the left lung collapsed, the ITA was harvested in all patients with CO2 insufflation through three 5 mm ports in the left chest. Postoperative angiography and transthoracic Doppler studies were performed in all patients.
  
  
  RESULTS
  There were no ITA injuries and patients tolerated insufflation without hemodynamic compromise. Side branches were controlled easily without bleeding. Average ITA harvest time was 65 +/- 21 minutes. All vessels were patent after harvesting and demonstrated no angiographic evidence of injury.
  
  
  CONCLUSIONS
  This paper demonstrates a technique by which the Harmonic Scalpel can be readily adapted to the ZEUS robotic telemanipulation system. Using this system, ITA's can be safely harvested totally endoscopically within a reasonable time frame for patients undergoing ENDOCAB.
authors.affiliation: London Health Sciences Centre, London, Ontario, Canada.
authors.forename: B
authors.initials: B
authors.lastname: Kiaii
authors.forename: W D
authors.initials: WD
authors.lastname: Boyd
authors.forename: R
authors.initials: R
authors.lastname: Rayman
authors.forename: W B
authors.initials: WB
authors.lastname: Dobkowski
authors.forename: S
authors.initials: S
authors.lastname: Ganapathy
authors.forename: G
authors.initials: G
authors.lastname: Jablonsky
authors.forename: R J
authors.initials: RJ
authors.lastname: Novick
mesh_terms: D017023:Coronary Angiography; D047549:Coronary Artery Bypass, Off-Pump / Q000295:instrumentation*; D003327:Coronary Disease / Q000000981:diagnostic imaging / Q000601:surgery*; D004867:Equipment Design; D005260:Female; D006801:Humans; D008297:Male; D008875:Middle Aged; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013906:Thoracoscopy