心外膜平行丝机器人的导管引入器设计概念
Introducer Design Concepts for an Epicardial Parallel Wire Robot.
作者信息
Ladak Aman, Dixit Deepika, Halbreiner Michael S, Passineau Michael J, Murali Srinivas, Riviere Cameron N
机构信息
The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
Cardiovascular Institute, Allegheny Health Network, Pittsburgh, PA, USA.
出版信息
Robot Surg. 2021 Sep 7;8:21-38. doi: 10.2147/RSRR.S327069. eCollection 2021.
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.
背景
心脏基因治疗缺乏有效的心肌递送方法。虽然直接注射在小区域已取得成功，但均匀的基因表达需要在大面积上进行多次注射。为满足这一需求，我们开发了一种用于心外膜干预的微创柔性平行丝机器人。为了将其准确地部署到跳动的心脏上，需要一种导入器机制。
方法
介绍了两种机制。在人工跳动心脏上对机器人的定位、操作时间和心包插入力进行评估。
结果
证明了成功定位。机制I的平均操作时间为230±7秒，机制II为259±4秒。心包插入力平均前向为2.2±0.4 N，后向为3.1±0.4 N。
结论
导入器机制在促进机器人在心外膜上的部署方面显示出可行性。心包插入力和操作时间一致且合理。
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