title: Totally endoscopic coronary artery bypass graft: initial experience with an additional instrument arm and an advanced camera system.
abstract: BACKGROUND
  Robotically enhanced telemanipulation for totally endoscopic coronary artery bypass does not provide adequate tactile feedback, traction, or countertraction. The exposition of coronary target sites is difficult, the visual field is limited, and the epicardial stabilization may be troublesome. A fourth robotic arm for endothoracic instrumentation has been added to the da Vinci surgical system to facilitate totally endoscopic operations. The stereoendoscope was upgraded with a wide-angle feature.
  
  
  METHODS
  The procedure was performed in five patients. Four of these patients had left internal thoracic artery (LITA) to left anterior descending artery (LAD) grafting on the beating heart and the fifth had sequential bypass grafting (LITA to diagonal branch and LAD) on an arrested heart. The additional effector arm of the da Vinci surgical system was brought into the operative field beneath the operating table and used as a second right arm. The wide-angle view was activated by either the console or the patient side surgeon.
  
  
  RESULTS
  The mean operative, port placement, and anastomotic times for a beating-heart totally endoscopic coronary artery bypass were 195 +/- 58, 25 +/- 10, and 18 +/- 5 min, respectively. All procedures were free of morbidity and mortality, with satisfactory angiographic control. The sequential arterial bypass grafting procedure was fully completed in totally endoscopic technique.
  
  
  CONCLUSIONS
  The additional instrumentation arm and wide-angle visualization are useful technical improvements of the da Vinci surgical system, solving the problem of traction, countertraction, and facilitated exposition of target sites as well as visualization of the surgical field. They provide potential for wider acceptance of totally endoscopic coronary artery bypass grafting in a larger surgical community.
authors.affiliation: Department of Thoracic and Cardiovascular Surgery, Johann Wolfgang Goethe University, Frankfurt, Theodor-Stern-Kai 7, 60590 Frankfurt, Germany. S.Dogan@em.uni-frankfurt.de
authors.forename: S
authors.initials: S
authors.lastname: Dogan
authors.forename: T
authors.initials: T
authors.lastname: Aybek
authors.forename: P
authors.initials: P
authors.lastname: Risteski
authors.forename: S
authors.initials: S
authors.lastname: Mierdl
authors.forename: H
authors.initials: H
authors.lastname: Stein
authors.forename: C
authors.initials: C
authors.lastname: Herzog
authors.forename: M F
authors.initials: MF
authors.lastname: Khan
authors.forename: O
authors.initials: O
authors.lastname: Dzemali
authors.forename: A
authors.initials: A
authors.lastname: Moritz
authors.forename: G
authors.initials: G
authors.lastname: Wimmer-Greinecker
mesh_terms: D000368:Aged; D020677:Angioscopes; D017546:Angioscopy; D001026:Coronary Artery Bypass / Q000295:instrumentation* / Q000379:methods*; D004867:Equipment Design; D005260:Female; D006801:Humans; D008297:Male; D012371:Robotics / Q000295:instrumentation*