Degani Amir, Choset Howie, Zubiate Brett, Ota Takeyoshi, Zenati Marco
Carnegie Mellon University Pittsburgh, PA 15213.
Conf Proc IEEE Eng Med Biol Soc. 2006;2006(1642343):4167-4172. doi: 10.1109/ROBOT.2006.1642343.
We have developed a novel highly articulated robotic probe (HARP) that can thread through tightly packed volumes without disturbing the surrounding tissues and organs. We use cardiac surgery as the focal application of this work. As such, we have designed the HARP to enter the pericardial cavity through a subxiphoid port. The surgeon can effectively reach remote intrapericardial locations on the epicardium and deliver therapeutic interventions under direct control. Our device differs from others in that we use conventional actuation and still have great maneuverability. We have performed proof-of-concept clinical experiments to give us preliminary validation of the ideas presented here.
我们开发了一种新型的高关节度机器人探头（HARP），它能够穿过紧密排列的空间，而不会干扰周围的组织和器官。我们将心脏手术作为这项工作的重点应用领域。因此，我们设计HARP通过剑突下端口进入心包腔。外科医生可以有效地到达心外膜上的心包内偏远位置，并在直接控制下进行治疗干预。我们的设备与其他设备的不同之处在于，我们使用传统的驱动方式却仍具有很强的机动性。我们已经进行了概念验证临床实验，以便对这里提出的想法进行初步验证。
