title: A novel highly articulated robotic surgical system for epicardial ablation.
abstract: We have developed a novel, highly articulated robotic surgical system to enable minimally invasive intrapericardial interventions through a subxiphoid approach and have performed preliminary tests of epicardial left atrial ablation in porcine (N=3) and human cadaver (N=2) preparations. In this study, the novel highly articulated robotic surgical system successfully provided safe epicardial ablations to the left atrium in porcine beating heart models via a subxiphoid approach. We have also performed complex guidance of the robot and subsequent ablation in a cadaveric preparation for successful pulmonary vein isolation.
authors.affiliation: Division of Cardiac Surgery, The Bioengineering Department, University of Pittsburgh, Pittsburgh, Pennsylvania, USA.
authors.forename: Takeyoshi
authors.initials: T
authors.lastname: Ota
authors.forename: Amir
authors.initials: A
authors.lastname: Degani
authors.forename: David
authors.initials: D
authors.lastname: Schwartzman
authors.forename: Brett
authors.initials: B
authors.lastname: Zubiate
authors.forename: Jeremy
authors.initials: J
authors.lastname: McGarvey
authors.forename: Howie
authors.initials: H
authors.lastname: Choset
authors.forename: Marco A
authors.initials: MA
authors.lastname: Zenati
mesh_terms: D000818:Animals; D013504:Cardiovascular Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D017115:Catheter Ablation / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D066298:In Vitro Techniques; D010496:Pericardium / Q000033:anatomy & histology* / Q000601:surgery*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D013552:Swine; D014584:User-Computer Interface