Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools
| Autor: | Chris Folk, Adam L. Cohen, Evan J. Butler, Nikolay V. Vasilyev, Pedro J. del Nido, Richard T. Chen, Nora Lang, Pierre E. Dupont, Andrew Gosline |
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| Rok vydání: | 2012 |
| Předmět: |
Microelectromechanical systems
Engineering Percutaneous business.industry Applied Mathematics Mechanical Engineering technology industry and agriculture Article Intracardiac injection Catheter Image-guided surgery Artificial Intelligence Modeling and Simulation Robot Robotic surgery Electrical and Electronic Engineering business Closing (morphology) Software Biomedical engineering |
| Zdroj: | The International Journal of Robotics Research. 31:1081-1093 |
| ISSN: | 1741-3176 0278-3649 |
| DOI: | 10.1177/0278364912443718 |
| Popis: | Achieving superior outcomes through the use of robots in medical applications requires an integrated approach to the design of the robot, tooling and the procedure itself. In this paper, this approach is applied to develop a robotic technique for closing abnormal communication between the atria of the heart. The goal is to achieve the efficacy of surgical closure as performed on a stopped, open heart with the reduced risk and trauma of a beating-heart catheter-based procedure. In the proposed approach, a concentric tube robot is used to percutaneously access the right atrium and deploy a tissue approximation device. The device is constructed using a metal microelectromechanical system (MEMS) fabrication process and is designed to both fit the manipulation capabilities of the robot as well as to reproduce the beneficial features of surgical closure by suture. The effectiveness of the approach is demonstrated through ex vivo and in vivo experiments. |
| Databáze: | OpenAIRE |
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