ArticleRobotic surgery (Auckland)2017
Techniques for epicardial mapping and ablation with a miniature robotic walker.
Article in Robotic surgery (Auckland), 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed, 6 citations in OpenAlex.
- Epicardial ventricular arrhythmia ablation: a clinical consensus statement of the European Heart Rhythm Association of the European Society of Cardiology and the Heart Rhythm Society, the Asian Pacific Heart Rhythm Society, the Latin American Heart Rhythm Society, and the Canadian Heart Rhythm Society.Europace : European pacing, arrhythmias, and cardiac electrophysiology : journal of the working groups on cardiac pacing, arrhythmias, and cardiac cellular electrophysiology of the European Society of Cardiology · 2025Article
- Coronary vessel detection methods for organ-mounted robots.The international journal of medical robotics + computer assisted surgery : MRCAS · 2021Article
- Beating-heart registration for organ-mounted robots.The international journal of medical robotics + computer assisted surgery : MRCAS · 2018Article
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Authors and funding
4 authors at 4 institutions in 1 country.
Funding
Abstract
backgroundPresent treatments for ventricular tachycardia have significant drawbacks. To ameliorate these drawbacks, it may be advantageous to employ an epicardial robotic walker that performs mapping and ablation with precise control of needle insertion depth. This paper examines the feasibility of such a system.
methodsThis paper describes techniques for epicardial mapping and depth-controlled ablation with the robotic walker. The mapping technique developed for the current form of the system uses a single equivalent moving dipole model combined with the navigation capability of the walker. The intervention technique provides saline-enhanced radio frequency ablation, with sensing of needle penetration depth. The mapping technique was demonstrated in an artificial heart model with a simulated arrhythmia focus, followed by preliminary testing in the porcine model in vivo. The ablation technique was demonstrated in an artificial tissue model, and then in chicken breast tissue ex vivo.
resultsThe walker located targets to within 2 mm using the SEMDM technique. No epicardial damage was found subsequent to the porcine trial in vivo. Needle insertion for ablation was controlled to within 2 mm of the target depth. Lesion size was repeatable, with diameter varying consistently in proportion to volume of saline injected.
conclusionsThe experiments demonstrated the general feasibility of the techniques for mapping and depth-controlled ablation with the robotic walker.
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