Abadie J, Faure A, Chaillet N, Rougeot P, Beaufort D, Goldstein J P, Finlay P A, Bogaerts G
Laboratoire d'Automatique de Besançon UMR CNRS 6596, ENSMM, Université de Franche-Comté, France.
Int J Med Robot. 2006 Jun;2(2):188-96. doi: 10.1002/rcs.83.
The paper presents a new robotic system for beating heart surgery. The final goal of this project is to develop a tele-operated system for the thoracoscopic treatment of patients with atrial fibrillation. The system consists of a robot that moves an innovative end-effector used to perform lines as in the Cox-Maze technique.
The device is an electrode mesh that is introduced in the thorax through a trocar and is deployed inside the left atrium, where it can create selective ablation lines at any atrial region, using radio frequency. The current version of the umbrella has 22 electrodes. Using visual feedback from an ultrasound based navigation system, the surgeon can choose which electrodes on the mesh to activate. Once the umbrella is in contact with the endocardium of the left atrium, at the expected position, the surgeon activates the chosen electrodes sequentially. The umbrella can then be moved to another position.
In vitro and in vivo animal tests have been carried out in order to test and improve the instrument, the robotic system and the operative procedure.
The performed trials proved the ability of the system to treat atrial fibrillation. More in vivo tests are currently being performed to make the robot and its device ready for clinical use.
本文介绍了一种用于心脏跳动手术的新型机器人系统。该项目的最终目标是开发一种用于胸腔镜治疗心房颤动患者的远程操作系统。该系统由一个机器人组成，该机器人移动一个创新的末端执行器，用于执行类似于Cox迷宫技术中的线路。
该设备是一个电极网，通过套管针引入胸腔并部署在左心房内，在那里它可以使用射频在任何心房区域创建选择性消融线。当前版本的伞状电极网有22个电极。利用基于超声的导航系统的视觉反馈，外科医生可以选择激活网片上的哪些电极。一旦伞状电极网在预期位置与左心房的心内膜接触，外科医生依次激活所选电极。然后可以将伞状电极网移动到另一个位置。
为了测试和改进仪器、机器人系统和手术程序，已经进行了体外和体内动物试验。
所进行的试验证明了该系统治疗心房颤动的能力。目前正在进行更多的体内试验，以使机器人及其设备准备好用于临床。
