title: Early experience with a computerized robotically controlled catheter system.
abstract: BACKGROUND
  Recently, the use of robotic assisted surgery has been utilized in cardiac surgical procedures. The use of robotics may offer benefits in precision, stability and control of instruments remotely. We report early experience with a novel remote robotic catheter control system (CCS).
  
  
  METHODS
  We used a computerized robotically controlled catheter system that enables the user to remotely manipulate the tip of a catheter precisely in three dimensions. We tested the robotic catheter control systems ability to navigate within the heart and to make precise, rapid and repeatable movements. We compared the CCS with the ability of a standard quadripolar steerable ablation catheter placed in a deflectable sheath to navigate and make precision movements. Twelve ex-vivo porcine hearts were utilized to permit accurate measurements of navigation and precision. Eight targets were selected for navigation and precision testing. Time was measured for the catheter to reach the predefined target from a specific starting point to test navigation. In addition, time was measured to contact a discrete 0.8 mm target in order to test precision.
  
  
  RESULTS
  The use of the CCS reduced the time needed for both navigation (8.5 +/- 13.9 sec vs. 22.7 +/- 26.7 sec, p = 0.002) and significantly decreased the time for precision targeting (10.1 +/- 6.9 sec vs. 29.6 +/- 26.4 sec, p < 0.001) in the specific RA and LA sites in the ex-vivo hearts.
  
  
  CONCLUSIONS
  The use of a computerized robotically assisted catheter control system is feasible and shows promise in rapid precision movement of the catheter. Further study is needed to elucidate the role of such a system in-vivo and in patient specific catheter ablation and mapping.
authors.affiliation: Stanford Arrhythmia Service, Stanford University School of Medicine, CA 94305, USA. aalahmad@cvmed.stanford.edu
authors.forename: Amin
authors.initials: A
authors.lastname: Al-Ahmad
authors.forename: Jessica D
authors.initials: JD
authors.lastname: Grossman
authors.forename: Paul J
authors.initials: PJ
authors.lastname: Wang
mesh_terms: D000818:Animals; D006328:Cardiac Catheterization / Q000295:instrumentation*; D017115:Catheter Ablation / Q000295:instrumentation*; D005240:Feasibility Studies; D066298:In Vitro Techniques; D012371:Robotics; D013552:Swine