Early experience with a computerized robotically controlled catheter system
Early experience with a computerized robotically controlled catheter system
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DOI：
10.1007/s10840-005-0325-y
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发表时间：
2005-04-01
影响因子：
1.8
通讯作者：
Wang, PJ
中科院分区：
文献类型：
--
作者：
Al-Ahmad, A;Grossman, JD;Wang, PJ
背景：最近，机器人辅助手术已应用于心脏外科手术。机器人技术的使用可以在仪器的精度、稳定性和远程控制方面带来好处。我们报告了新型远程机器人导管控制系统（CCS）的早期经验。方法：我们使用计算机化的机器人控制导管系统，使用户能够在三个维度上精确地远程操纵导管尖端。我们测试了机器人导管控制系统在心脏内导航并进行精确、快速和可重复运动的能力。我们将 CCS 与放置在可偏转护套中的标准四极可操纵消融导管进行导航和精确移动的能力进行了比较。利用十二个离体猪心脏来精确测量导航和精度。选择了八个目标进行导航和精度测试。测量导管从特定起点到达预定目标的时间以测试导航。此外，还测量了接触离散 0.8 毫米目标的时间，以测试精度。 结果：CCS 的使用减少了导航所需的时间（8.5 +/- 13.9 秒与 22.7 +/- 26.7 秒，p= 0.002），并显着减少了精确瞄准的时间（10.1 +/- 6.9 秒与 29.6 +/- 26.4 秒， p < 0.001）在离体心脏的特定 RA 和 LA 部位。结论：使用计算机机器人辅助导管控制系统是可行的，并且在导管的快速精确移动方面显示出前景。需要进一步的研究来阐明这种系统在体内和患者特定导管消融和标测中的作用。
Background: Recently, the use of robotic assisted surgery has been utilized in cardiac surgical procedures. The use of robotics may offer benefits in precision, stability and control of instruments remotely. We report early experience with a novel remote robotic catheter control system (CCS).Methods: We used a computerized robotically controlled catheter system that enables the user to remotely manipulate the tip of a catheter precisely in three dimensions. We tested the robotic catheter control systems ability to navigate within the heart and to make precise, rapid and repeatable movements. We compared the CCS with the ability of a standard quadripolar steerable ablation catheter placed in a deflectable sheath to navigate and make precision movements. Twelve ex-vivo porcine hearts were utilized to permit accurate measurements of navigation and precision. Eight targets were selected for navigation and precision testing. Time was measured for the catheter to reach the predefined target from a specific starting point to test navigation. In addition, time was measured to contact a discrete 0.8 mm target in order to test precision.Results: The use of the CCS reduced the time needed for both navigation (8.5 +/- 13.9 sec vs. 22.7 +/- 26.7 sec, p= 0.002) and significantly decreased the time for precision targeting ( 10.1 +/- 6.9 sec vs. 29.6 +/- 26.4 sec, p< 0.001) in the specific RA and LA sites in the ex-vivo hearts.Conclusions: The use of a computerized robotically assisted catheter control system is feasible and shows promise in rapid precision movement of the catheter. Further study is needed to elucidate the role of such a system in-vivo and in patient specific catheter ablation and mapping.