Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating Heart
AbstractThe development and preliminary testing of a device for facilitating minimally invasive beating-heart intrapericardial interventions are described. We propose the concept of an endoscopic robotic device that adheres to the epicardium by suction and navigates by crawling like an inchworm to any position on the surface under the control of a surgeon. This approach obviates cardiac stabilization, lung deflation, differential lung ventilation, and reinsertion of laparoscopic tools for accessing different treatment sites, thus offering the possibility of reduced trauma to the patient. The device has a working channel through which various tools can be introduced for treatment. The current prototype demonstrated successful prehension, turning, and locomotion on beating hearts in a limited number of trials in a porcine model.
Boekstegers P, Raake P, Al Ghobainy R, et al. 2002. Stent-based approach for ventricle-to-coronary artery bypass. Circulation 106:1000-6.nÇavusoglu MC, Williams W, Tendick F, Sastry SS. 2003. Robotics for telesurgery: second generation Berkeley/UCSF laparoscopic telesurgical workstation and looking towards the future applications. Ind Robn30:22-9.nFalk V, Diegeler A, Walther T, et al. 1999. Endoscopic coronary artery bypass grafting on the beating heart using a computer enhanced telemanipulation system. Heart Surg Forum 2:199-205.nFalk V, Diegler A, Walther T, Autschbach R, Mohr FW. 2000. Developments in robotic cardiac surgery. Curr Opin Cardiol 15:378-87.nGleason JD, Nguyen KP, Kissinger KV, Manning WJ, Verrier RL. 2002. Myocardial drug distribution pattern following intrapericardial delivery: an MRI analysis. J Cardiovasc Magn Reson 4:311-6.nGründeman PF, Budde R, Beck HM, van Boven W-J, Borst C. 2003. Endoscopic exposure and stabilization of posterior and inferior branches using the endo-Starfish cardiac positioner and the endo-Octopus stabilizer for closed-chest beating heart multivessel CABG: hemodynamic changes in the pig. Circulation 108:11-34.nZenati MA. 2001. Robotic heart surgery. Cardiol Rev 9:287-94.nZenati MA, Paiste J, Williams JP, Strindberg G, Dumouchel J, Griffith BP. 2001. Minimally invasive coronary bypass without general endotracheal anesthesia. Ann Thorac Surg 72:1380-2.nZenati MA, Bonanomi G, Chin AK, Schwartzman D. 2003. Left heart lead implantation using subxiphoid videopericardioscopy. J Cardiovasc Electrophysiol 14:949-53.nLeclercq C, Kass DA. 2002. Retiming the failing heart: principles and current clinical status of cardiac resynchronization. J Am Coll Cardiol 39:194-201.nLee R, Nitta T, Schuessler RB, Johnson DC, Boineau JP, Cox JL. 1999. The closed heart maze: a nonbypass surgical technique. Ann Thorac Surg 2:1696-702.nLi R-K, Jia Z-Q, Weisel RD, Merante F, Mickle DA. 1999. Smooth muscle cell transplantation into myocardial scar tissue improves heart function. J Mol Cell Cardiol 31:513-22.nLosordo DW, Vale PR, Isner JM. 1999. Gene therapy for myocardial angiogenesis. Am Heart J 138:S132-41.nMack MJ. 2001. Minimally invasive and robotic surgery. JAMA 285: 568-72.nOrtmaier TJ. 2003. Motion compensation in minimally invasive robotic surgery [dissertation]. Munich, Germany: Technical University of Munich.nSchweikert RA, Saliba WI, Tomassoni G, et al. 2003. Percutaneous pericardial instrumentation for endo-epicardial mapping of previously failed ablations. Circulation 108:1329-35.nSiegel M, Gunatilake P, Podnar G. 1998. Robotic assistants for aircraft inspectors. IEEE Instrum Meas Mag 1:16-30.nSosa E, Scanavacca M, D'Avila A, Oliveira F, Ramires JA. 2000. Nonsurgical transthoracic epicardial catheter ablation to treat recurrent ventricular tachycardia occurring late after myocardial infarction. J Am Coll Cardiol 35:1442-9.nPatronik NA, Zenati MA, Riviere CN. 2004. Crawling on the heart: a mobile robotic device for minimally invasive cardiac interventions. In: Barillot C, Haynor DR, Hellier P, eds. Medical image computing and computer-assisted intervention-MICCAI 2004: 7th International Conference, Saint-Malo, France, September 26-29, 2004. Proceedings, Part II. Berlin: Springer-Verlag.n
How to Cite
Author Disclosure & Copyright Transfer Agreement
In order to publish the original work of another person(s), The Heart Surgery Forum® must receive an acknowledgment of the Author Agreement and Copyright Transfer Statement transferring to Forum Multimedia Publishing, L.L.C., a subsidiary of Carden Jennings Publishing Co., Ltd. the exclusive rights to print and distribute the author(s) work in all media forms. Failure to check Copyright Transfer agreement box below will delay publication of the manuscript.
A current form follows:
The author(s) hereby transfer(s), assign(s), or otherwise convey(s) all copyright ownership of the manuscript submitted to Forum Multimedia Publishing, LLC (Publisher). The copyright transfer covers the exclusive rights to reproduce and distribute the article and the material contained therein throughout the world in all languages and in all media of expression now known or later developed, including but not limited to reprints, photographic reproduction, microfilm, electronic data processing (including programming, storage, and transmission to other electronic data record(s), or any other reproductions of similar nature), and translations.
However, Publisher grants back to the author(s) the following:
- The right to make and distribute copies of all or part of this work for use of the author(s) in teaching;
- The right to use, after publication in The Heart Surgery Forum, all or part of the material from this work in a book by the author(s), or in a collection of work by the author(s);
- The royalty-free right to make copies of this work for internal distribution within the institution/company that employs the author(s) subject to the provisions below for a work-made-for-hire;
- The right to use figures and tables from this work, and up to 250 words of text, for any purpose;
- The right to make oral presentations of material from this work.
Publisher reserves the right to grant or refuse permission to third parties to republish all or part of the article or translations thereof. To republish, such third parties must obtain written permission from the Publisher. (This is in accordance with the Copyright Statute, United States Code, Title 17. Exception: If all authors were bona fide officers or employees of the U.S. Government at the time the paper was prepared, the work is a “work of the US Government” (prepared by an officer or employee of the US Government as part of official duties), and therefore is not subject to US copyright; such exception should be indicated on signature lines. If this work was prepared under US Government contract or grant, the US Government may reproduce, royalty-free, all or portions of this work and may authorize others to do so, for official US Government purposes only, if the US Government contract or grant so requires.
I have participated in the conception and design of this work and in the writing of the manuscript and take public responsibility for it. Neither this manuscript nor one with substantially similar content under my authorship has been published, has been submitted for publication elsewhere, or will be submitted for publication elsewhere while under consideration by The Heart Surgery Forum, except as described in an attachment. I have reviewed this manuscript (original version) and approve its submission. If I am listed above as corresponding author, I will provide all authors with information regarding this manuscript and will obtain their approval before submitting any revision. I attest to the validity, accuracy, and legitimacy of the content of the manuscript and understand that Publisher assumes no responsibility for the validity, accuracy, and legitimacy of its content. I warrant that this manuscript is original with me and that I have full power to make this Agreement. I warrant that it contains no matter that is libelous or otherwise unlawful or that invades individual privacy or infringes any copyright or other proprietary right. I agree to indemnify and hold Publisher harmless of and from any claim made against Publisher that relates to or arises out of the publication of the manuscript and agree that this indemnification shall include payment of all costs and expenses relating to the defense of any such claim, including all reasonable attorney’s fees.
I warrant that I have no financial interest in the drugs, devices, or procedures described in the manuscript (except as disclosed in the attached statement).
I state that the institutional Human Subjects Committee and/or the Ethics Committee approved the clinical protocol reported in this manuscript for the use of experimental techniques, drugs, or devices in human subjects and appropriate informed consent documents were utilized.
Furthermore, I state that any and all animals used for experimental purposes received humane care in USDA registered facilities in compliance with the “Principles of Laboratory Animal Care” formulated by the National Society for Medical Research and the “Guide for the Care and Use of Laboratory Animals” prepared by the Institute of Laboratory Animal Resources and published by the National Institutes of Health (NIH Publication No. 85-23, revised 1985).