A highly articulated robotic surgical system for minimally invasive surgery.
A highly articulated robotic surgical system for minimally invasive surgery.
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DOI：
10.1016/j.athoracsur.2008.10.026
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发表时间：
2009-04
影响因子：
4.6
通讯作者：
Zenati, Marco A.
中科院分区：
文献类型：
--
作者：
Ota, Takeyoshi;Degani, Amir;Schwartzman, David;Zubiate, Brett;McGarvey, Jeremy;Choset, Howie;Zenati, Marco A.
我们开发了一种新型的高度铰接的机器人手术系统（ARMARM），通过剑突下入路实现微创心包内治疗输送。我们通过进行心外膜消融在猪制备中进行了初步概念验证研究。ARMARM是一种机器人手术系统，具有关节式设计，可提供无限但可控的灵活性。ARM由串联连接的刚性圆柱形连杆组成，连杆内有柔性工作端口，可通过这些端口推进用于治疗和成像的基于导管的工具。微臂由计算机驱动的用户界面控制，可在手术野外操作。在6名实验受试者中，通过剑突下入路经皮引入了ASARM。通过工作端口引入市售5 Fr射频消融导管，然后用于引导展开。在所有受试者中，成功实现了局部（“线性”）左心房消融，无并发症。基于这些初步研究，我们认为，ASARM有望实现许多基于心外膜的疗法的部署。成像技术的改进可能会促进日益复杂的程序。
We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation. CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field. In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional (“linear”) left atrial ablation was successfully achieved without complications. Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.
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DOI：
10.1046/j.1540-8167.2002.00764.x
发表时间：
2002-08-01
影响因子：
2.7
作者：
Kok, LC;Mangrum, JM;Mounsey, JP
通讯作者：
Mounsey, JP
DOI：
10.1046/j.1540-8167.2005.40710.x
发表时间：
2005-04-01
影响因子：
2.7
作者：
Sosa, E;Scanavacca, M
通讯作者：
Scanavacca, M
影响因子：
37.8
作者：
Cappato, R;Calkins, H;Skanes, A
通讯作者：
Skanes, A
影响因子：
4.6
作者：
Zenati, Marco A.;Shalaby, Alaa;Ota, Takeyoshi
通讯作者：
Ota, Takeyoshi
影响因子：
37.8
作者：
Robbins, IM;Colvin, EV;Kay, GN
通讯作者：
Kay, GN