title: Single-site access robot-assisted epicardial mapping with a snake robot: preparation and first clinical experience.
abstract: CardioARM, a highly flexible "snakelike" medical robotic system (Medrobotics, Raynham, MA), has been developed to allow physicians to view, access, and perform complex procedures intrapericardially on the beating heart through a single-access port. Transthoracic epicardial catheter mapping and ablation has emerged as a strategy to treat arrhythmias, particularly ventricular arrhythmias, originating from the epicardial surface. The aim of our investigation was to determine whether the CardioARM could be used to diagnose and treat ventricular tachycardia (VT) of epicardial origin. Animal and clinical studies of the CardioARM flexible robot were performed in hybrid surgical-electrophysiology settings. In a porcine model study, single-port pericardial access, navigation, mapping, and ablation were performed in nine animals. The device was then used in a small, single-center feasibility clinical study. Three patients, all with drug-refractory VT and multiple failed endocardial ablation attempts, underwent epicardial mapping with the flexible robot. In all nine animals, navigation, mapping, and ablation were successful without hemodynamic compromise. In the human study, all three patients demonstrated a favorable safety profile, with no major adverse events through a 30-day follow-up. Two cases achieved technical success, in which an electroanatomic map of the epicardial ventricle surface was created; in the third case, blood obscured visualization. These results, although based on a limited number of experimental animals and patients, show promise and suggest that further clinical investigation on the use of the flexible robot in patients requiring epicardial mapping of VT is warranted.
authors.affiliation: Department of Cardiology, Na Homolce Hospital, Roentgenova 2, 150 30 Prague 5, Czech Republic.
authors.forename: Petr
authors.initials: P
authors.lastname: Neuzil
authors.forename: Stepan
authors.initials: S
authors.lastname: Cerny
authors.forename: Stepan
authors.initials: S
authors.lastname: Kralovec
authors.forename: Oleg
authors.initials: O
authors.lastname: Svanidze
authors.forename: Jan
authors.initials: J
authors.lastname: Bohuslavek
authors.forename: Petr
authors.initials: P
authors.lastname: Plasil
authors.forename: Pavel
authors.initials: P
authors.lastname: Jehlicka
authors.forename: Frantisek
authors.initials: F
authors.lastname: Holy
authors.forename: Jan
authors.initials: J
authors.lastname: Petru
authors.forename: Richard
authors.initials: R
authors.lastname: Kuenzler
authors.forename: Lucie
authors.initials: L
authors.lastname: Sediva
keywords: Catheter ablation; Electroanatomical epicardial mapping; Flexible robot; Minimally invasive surgery; Robotic assisted procedure; Ventricular tachycardia