Robotic-Assisted Percutaneous Coronary Intervention—Filling an Unmet Need

Carrozza, Joseph P.

doi:10.1007/s12265-011-9324-9

Cited by 32 publications

(16 citation statements)

References 10 publications

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“…Several robotic catheter navigation systems have been introduced with the goal of providing precise catheter navigation [5–7]. Similar to the robot described here, these systems enable catheter tip control from a remote station.…”

Section: Discussionmentioning

confidence: 99%

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Percutaneous Steerable Robotic Tool Delivery Platform and Metal Microelectromechanical Systems Device for Tissue Manipulation and Approximation

Vasilyev

Gosline

Butler

et al. 2013

Circ: Cardiovascular Interventions

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Background Beating-heart image-guided intracardiac interventions have been evolving rapidly. To extend the domain of catheter-based and transcardiac interventions into reconstructive surgery, a new robotic tool delivery platform (TDP) and tissue approximation device have been developed. Initial results employing these tools to perform patent foramen ovale (PFO) closure are described. Methods and Results A robotic TDP comprised of superelastic metal tubes provides the capability of delivering and manipulating tools and devices inside the beating heart. A new device technology is also presented that utilizes a metal-based MicroElectroMechanical Systems (MEMS) manufacturing process to produce fully-assembled and fully-functional millimeter-scale tools. As a demonstration of both technologies, a PFO creation and closure was performed in a swine model. In the first group of animals (N=10), a preliminary study was performed. The procedural technique was validated with a transcardiac handheld delivery platform and epicardial echocardiography, video-assisted cardioscopy and fluoroscopy. In the second group (N=9), the procedure was performed percutaneously using the robotic TDP under epicardial echocardiography and fluoroscopy imaging. All PFO’s were completely closed in the first group. In the second group, the PFO was not successfully created in 1 animal, and the defects were completely closed in 6 of the 8 remaining animals. Conclusions In contrast to existing robotic catheter technologies, the robotic TDP utilizes a combination of stiffness and active steerability along its length to provide the positioning accuracy and force application capability necessary for tissue manipulation. In combination with a MEMS tool technology, it can enable reconstructive procedures inside the beating heart.

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Section: Discussionmentioning

confidence: 99%

“…While these technologies are useful for atrial fibrillation ablation procedures, as well as complex coronary artery and peripheral interventions [5–8], they are not designed to enable complex reconstructive procedures, which require precise tissue grasping and approximation.…”

Section: Introductionmentioning

confidence: 99%

Percutaneous Steerable Robotic Tool Delivery Platform and Metal Microelectromechanical Systems Device for Tissue Manipulation and Approximation

Vasilyev

Gosline

Butler

et al. 2013

Circ: Cardiovascular Interventions

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show abstract

“…The RNS is then commercialized by the Corindus Inc. and named CorPath 200. The CorPath 200 robotic system has performed clinical studies and obtained FDA approval [6], [7]. The Magellan robotic system developed by Hansen Medical is a specialized robotic catheter system designed for vascular interventional surgery [8].…”

Section: Introductionmentioning

confidence: 99%

“…In [5]- [7], two sets of rollers are used for the axial and radial movement of the guidewire, but the motions of the two sets of rollers would hinder each other when translating and rotating the guidewire simultaneously. [8] uses belts structure and special active catheter, the diameter of the active catheter is large and can not enter the coronary artery.…”

Section: Introductionmentioning

confidence: 99%

Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention

Zhao

Bian

Xie

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional devices and avoiding the radiation are especially important for the surgeons. This paper presents a novel dedicated dual-finger robotic hand (DRH) and a console to assist the surgeons to deliver the interventional devices in PCIs. The system is designed in the master-slave way which helps the surgeons to reduce the exposure to radiation. The mechanism of the DRH is bio-inspired and motions are decoupled in kinematics. In PCI procedures, the accuracy of the guidewire delivery and the catheter tip placement have significant effects on the surgical results. The performances of the DRH in delivering the guidewire and the balloon/stent catheter were evaluated by three surgical manipulations. The results show that the DRH has the ability to deliver the guidewire and the balloon/stent catheter precisely.

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“…The catheter is maneuvered by both the joystick and the touch screen. The remote navigation system has underwent a series of modifications and now is called CorPath 200 System which is produced by Corindus [9] [10]. Despite the device's appearance changs a lot, the basic concept of CorPath 200 is similar to RNS.…”

Section: Introductionmentioning

confidence: 99%

An enhanced dual-finger robotic Hand for Catheter manipulating in vascular intervention: A preliminary study

Bian

Xie

Zhao

et al. 2013

2013 IEEE International Conference on Information and Automation (ICIA)

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Ahstract-Cardiovascular disease is a class of diseases that involve the heart and blood vessels, which is the leading cause of deaths globally. Vascular interventional surgery is an effective treatment. As belongs to minimally invasive surgery (MIS), it is more popular due to the advantages of smaller injury, faster recovery and higher accuracy rate. However, it needs up to 10 years to train a skilled surgeon for minimally invasive cardiovascular surgeries. The surgeon cannot avoid receiving the excessive dose of X-ray due to long time operation in daily work. A dual-finger robotic hand (DRH) was introduced to assist the surgeon in manipulating the catheter/guide wire. As a surgical device, DRH is aiming at simple mechanism, ease to use and convenient sterilization. It was carefully investigated how the surgeon manipulates the catheter/guide wire. The bionic thumb and forefinger were designed to imitate human's.Compared to human's, the two bionic fingers are enhanced due to that they can advance the catheter/guide wire without moving the whole hand. The DRH mechanism was carefully designed.A console was also designed for the surgeon to manipulate DRH. After the DRH control was done, the minimum robotic cardiovascular interventional system was formed. Experimental results have validated the feasibility of DRH and the robotic system. Future work regarding DRH is also discussed.

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Robotic-Assisted Percutaneous Coronary Intervention—Filling an Unmet Need

Cited by 32 publications

References 10 publications

Percutaneous Steerable Robotic Tool Delivery Platform and Metal Microelectromechanical Systems Device for Tissue Manipulation and Approximation

Percutaneous Steerable Robotic Tool Delivery Platform and Metal Microelectromechanical Systems Device for Tissue Manipulation and Approximation

Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention

An enhanced dual-finger robotic Hand for Catheter manipulating in vascular intervention: A preliminary study

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