Articulated Robot for Epicardial Interventions

用于心外膜介入治疗的铰接式机器人

基本信息

  • 批准号:
    7143155
  • 负责人:
  • 金额:
    $ 34.29万
  • 依托单位:
  • 依托单位国家:
    美国
  • 项目类别:
  • 财政年份:
    2006
  • 资助国家:
    美国
  • 起止时间:
    2006-07-01 至 2011-05-31
  • 项目状态:
    已结题

项目摘要

DESCRIPTION (provided by applicant): In order to overcome the limitations of currently available assistive technologies for minimally invasive cardiac surgery (MICS), we propose to develop and test an innovative approach based on a highly articulated robotic probe (HARP). We believe that, for procedures involving epicardial interventions on the beating heart, MICS can be effectively realized with the HARP, entering the pericardial cavity through a subxiphoid port, reaching remote intrapericardial locations on the epicardium without causing hemodynamic and electrophysiologic interference and delivering therapeutic interventions under the direct control of the surgeon. The main goal of the HARP is to extend the sensing and manipulation ability of the physician by taking advantage of the high maneuverability of the HARP to steer around organs and reach anatomical landmarks which are not accessible to the conventional rigid and flexible endoscopic tools. We chose minimally cardiac surgery as a focus domain or, more specifically, subxiphoid videopericardioscopy as our target application because it represents all of the challenges that most procedures would have and has significant merit on its own. As an exemplary application that, in our opinion, sums most of the challenges that can be encountered with a broad array of epicardial interventions on the beating heart, we hereby propose to test the use of the HARP for the ligation of the left atrial appendage (LAA), a clinically relevant approach to reduce the risk of stroke in atrial fibrillation. We strongly believe that addressing this exemplary application represents a challenge that will enhance HARP's functionality and will eventually lead to expansion of its application to multiple intrapericardial therapies (e.g. cell transplantation by intramyocardial injection, epicardial ablation, epicardial lead placement for resynchronization, etc). With respect to this clinically relevant application, we hypothesize that the HARP will achieve superior results when compared with the existing rigid subxiphoid videopericardioscopy technology for intrapericardial navigation, which in turn will allow for ligation of LAA.The specific aims are designed to further develop the existing 12mm HARP prototype, and then to test it and comparing it to the existing subxiphoid videopericardioscopy device in an anthropomorphic phantom, in animals and human cadavers. Our broad, long-term objective is to fulfill our group's "epicardial frontier" vision, enabling a growing portfolio of epicardial therapies by developing and testing new dedicated innovative robotic technology. We envision the adoption of HARP-based intrapericardial therapies not only by minimally invasive cardiac surgeons, but also by interventional cardiologists and electrophysiologists. We also believe that the HARP may expand the therapeutic options for other non-cardiac endoscopic applications .
描述(由申请人提供):为了克服目前微创心脏手术(MICS)辅助技术的局限性,我们建议开发和测试一种基于高度关节机器人探针(HARP)的创新方法。我们相信,对于涉及跳动心脏的心外膜干预的手术,通过HARP可以有效地实现MICS,通过剑突下端口进入心包腔,到达心外膜上较远的心包内位置,而不引起血流动力学和电生理干扰,并在外科医生的直接控制下进行治疗干预。 HARP 的主要目标是通过利用 HARP 的高机动性来扩展医生的感知和操纵能力,以围绕器官进行转向并到达传统刚性和柔性内窥镜工具无法到达的解剖标志。我们选择最小程度的心脏手术作为重点领域,或者更具体地说,剑突下视频心包镜检查作为我们的目标应用,因为它代表了大多数手术所面临的所有挑战,并且其本身具有显着的优点。我们认为,作为一个示例性应用,总结了对跳动的心脏进行广泛的心外膜干预可能遇到的大部分挑战,我们在此建议测试 HARP 在左心耳 (LAA) 结扎中的使用,这是一种降低心房颤动中风​​风险的临床相关方法。我们坚信,解决这一示例性应用是一项挑战,它将增强 HARP 的功能,并最终将其应用扩展到多种心包内治疗(例如,通过心肌内注射进行细胞移植、心外膜消融、心外膜导线放置以进行重新同步等)。就这一临床相关应用而言,我们假设与现有的用于心包内导航的刚性剑突下视频心包镜技术相比,HARP 将取得更好的结果,从而允许结扎左心耳。具体目标是进一步开发现有的 12 毫米 HARP 原型,然后对其进行测试,并将其与拟人化中现有的剑突下视频心包镜设备进行比较。 幻影,存在于动物和人类尸体中。 我们广泛的长期目标是实现我们集团的“心外膜前沿”愿景,通过开发和测试新的专用创新机器人技术来实现不断增长的心外膜治疗组合。我们预计,基于 HARP 的心包内治疗不仅会被微创心脏外科医生采用,而且还会被介入心脏病学家和电生理学家采用。我们还相信,HARP 可能会扩大其他非心脏内窥镜应用的治疗选择。

项目成果

期刊论文数量(0)
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MARCO A. ZENATI其他文献

MARCO A. ZENATI的其他文献

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{{ truncateString('MARCO A. ZENATI', 18)}}的其他基金

A Novel Cognition-based Guidance System to Improve Surgical Safety
一种新型的基于认知的引导系统,可提高手术安全性
  • 批准号:
    10447089
  • 财政年份:
    2016
  • 资助金额:
    $ 34.29万
  • 项目类别:
A Novel Cognition-based Guidance System to Improve Surgical Safety
一种新型的基于认知的引导系统,可提高手术安全性
  • 批准号:
    10198989
  • 财政年份:
    2016
  • 资助金额:
    $ 34.29万
  • 项目类别:
A Novel Cognition-based Guidance System to Improve Surgical Safety
一种新型的基于认知的引导系统,可提高手术安全性
  • 批准号:
    10893225
  • 财政年份:
    2016
  • 资助金额:
    $ 34.29万
  • 项目类别:
Articulated Robot for Epicardial Interventions
用于心外膜介入治疗的铰接式机器人
  • 批准号:
    7867860
  • 财政年份:
    2006
  • 资助金额:
    $ 34.29万
  • 项目类别:
Articulated Robot for Epicardial Interventions
用于心外膜介入治疗的铰接式机器人
  • 批准号:
    7254144
  • 财政年份:
    2006
  • 资助金额:
    $ 34.29万
  • 项目类别:
Articulated Robot for Epicardial Interventions
用于心外膜介入治疗的铰接式机器人
  • 批准号:
    7433720
  • 财政年份:
    2006
  • 资助金额:
    $ 34.29万
  • 项目类别:
Articulated Robot for Epicardial Interventions
用于心外膜介入治疗的铰接式机器人
  • 批准号:
    7632181
  • 财政年份:
    2006
  • 资助金额:
    $ 34.29万
  • 项目类别:
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