The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

In order to overcome the limitations of currently available assistive technologies for minimally invasive surgery (MIS), we have developed a novel highly articulated robotic probe (HARP) that can exploit its snake-like structure to navigate in a confined anatomical environment while minimally interacting with the environment along its path. We believe that for procedures involving epicardial interventions on the beating heart, cardiac MIS 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.

Keywords

Cardiac Surgery, Medical Robot, Minimally Invasive Surgery

Notes

Associated Lab(s) / Group(s): Biorobotics

Associated Project(s): Highly-Articulated Robotic Probe

Number of pages: 6

Text Reference

Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota, and Marco A. Zenati, "Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe," Proceedings of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, February, 2006, pp. 7 - 12.

BibTeX Reference

@inproceedings{Degani_2006_5444,
   author = "Amir Degani and Howie Choset and Alon Wolf and Takeyoshi Ota and Marco A Zenati",
   title = "Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe",
   booktitle = "Proceedings of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics",
   pages = "7 - 12",
   month = "February",
   year = "2006",
}

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