Introducer Design Concepts for an Epicardial Parallel Wire Robot.

Robotic surgery (Auckland) Pub Date : 2021-09-07 eCollection Date: 2021-01-01 DOI:10.2147/RSRR.S327069

Aman Ladak, Deepika Dixit, Michael S Halbreiner, Michael J Passineau, Srinivas Murali, Cameron N Riviere

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Abstract

Background: Cardiac gene therapies lack effective delivery methods to the myocardium. While direct injection has demonstrated success over a small region, homogenous gene expression requires many injections over a large area. To address this need, we developed a minimally invasive flexible parallel wire robot for epicardial interventions. To accurately deploy it onto the beating heart, an introducer mechanism is required.

Methods: Two mechanisms are presented. Assessment of the robot's positioning, procedure time, and pericardium insertion forces are performed on an artificial beating heart.

Results: Successful positioning was demonstrated. The mean procedure time was 230 ± 7 seconds for mechanism I and 259 ± 4 seconds for mechanism II. The mean pericardium insertion force was 2.2 ± 0.4 N anteriorly and 3.1 ± 0.4 N posteriorly.

Conclusion: Introducer mechanisms demonstrate feasibility in facilitating the robot's deployment on the epicardium. Pericardium insertion forces and procedure times are consistent and reasonable.

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心外膜平行导线机器人的导入器设计概念。

背景:心脏基因治疗缺乏有效的心肌传递方法。虽然直接注射在小范围内取得了成功，但同质基因表达需要在大范围内多次注射。为了满足这一需求，我们开发了一种用于心外膜介入治疗的微创柔性平行线机器人。为了准确地将其部署到跳动的心脏上，需要一个引入机制。方法:提出两种机制。评估机器人的定位，程序时间，心包插入力进行了人工心脏跳动。结果:展示了成功的定位。机构I的平均操作时间为230±7秒，机构II的平均操作时间为259±4秒。平均心包插入力为前2.2±0.4 N，后3.1±0.4 N。结论:介绍器机制在促进机器人在心外膜上的部署方面是可行的。心包插入力和手术时间一致合理。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Robotic surgery (Auckland)

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