A parallel wire robot for epicardial interventions

Adam D. Costanza, Nathan A. Wood, Michael J. Passineau, Robert J. Moraca, Stephen H. Bailey, Tomo Yoshizumi, Cameron N. Riviere
2014 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  
This paper describes the design and preliminary testing of a planar parallel wire robot that adheres to the surface of the beating heart and provides a stable platform for minimally invasive epicardial therapies. The device is deployed through a small subxiphoid skin incision and attaches to the heart using suction. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive beating-heart surgery. The prototype design involves
more » ... ee vacuum chambers connected by two flexible arms. The chambers adhere to the epicardium, forming the vertices of a triangular base structure. Three cables connect a movable end-effector head to the three bases; the cables then pass out of the body to external actuators. The surgical tool moves within the triangular workspace to perform injections, ablation, or other tasks on the beating heart. Tests in vitro and in vivo were conducted to demonstrate the capabilities of the system. Tests in vivo successfully demonstrated the ability to deploy through a subxiphoid incision, adhere to the surface of the beating heart, move the surgical tool head within the robot's workspace, and perform injections into the myocardium.
doi:10.1109/embc.2014.6945034 pmid:25571402 pmcid:PMC4359915 dblp:conf/embc/CostanzaWPMBYR14 fatcat:xuvf4zpnjbgyvbe5ybyotaka4e