Title :
Metal MEMS tools for beating-heart tissue removal
Author :
Gosline, Andrew H. ; Vasilyev, Nikolay V. ; Veeramani, Arun ; Wu, MingTing ; Schmitz, Greg ; Chen, Rich ; Arabagi, Veaceslav ; Nido, Pedro J del ; Dupont, Pierre E.
Author_Institution :
Cardiovascular Surg., Harvard Med. Sch., Boston, MA, USA
Abstract :
A novel robotic tool is proposed to enable the surgical removal of tissue from inside the beating heart. The tool is manufactured using a unique metal MEMS process that provides the means to fabricate fully assembled devices that incorporate micron-scale features in a millimeter scale tool. The tool is integrated with a steerable curved concentric tube robot that can enter the heart through the vasculature. Incorporating both irrigation and aspiration, the tissue removal system is capable of extracting substantial amounts of tissue under teleoperated control by first morselizing it and then transporting the debris out of the heart through the lumen of the robot. Tool design and robotic integration are described and ex vivo experimental results are presented.
Keywords :
medical robotics; micromechanical devices; surgery; aspiration; beating-heart tissue removal; fully assembled devices; irrigation; metal MEMS tools; micron-scale features; millimeter scale tool; robotic integration; robotic tool; steerable curved concentric tube robot; surgical removal; surgical robotic systems; teleoperated control; tool design; Electron tubes; Heart; Metals; Micromechanical devices; Robots; Surgery; Valves;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225210
