Tissue removal inside the beating heart using a robotically delivered metal MEMS tool

Nikolay V. Vasilyev; Andrew H. Gosline; Arun Veeramani; Ming Ting Wu; Gregory P. Schmitz; Richard T. Chen; Veaceslav Arabagi; Pedro J. Del Nido; Pierre E. Dupont

doi:10.1177/0278364914543671

Tissue removal inside the beating heart using a robotically delivered metal MEMS tool

Nikolay V. Vasilyev^*, Andrew H. Gosline, Arun Veeramani, Ming Ting Wu, Gregory P. Schmitz, Richard T. Chen, Veaceslav Arabagi, Pedro J. Del Nido, Pierre E. Dupont

^*Corresponding author for this work

Department of Radiology

Research output: Contribution to journal › Article › peer-review

26 Scopus citations

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 percutaneously through peripheral vessels. 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 and in vivo large animal experimental results are presented.

Original language	English
Pages (from-to)	236-247
Number of pages	12
Journal	International Journal of Robotics Research
Volume	34
Issue number	2
DOIs	https://doi.org/10.1177/0278364914543671
State	Published - 3 Mar 2015

Keywords

Heart surgery
Mems process
Robotic tool
Tissue removal

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10.1177/0278364914543671

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title = "Tissue removal inside the beating heart using a robotically delivered metal MEMS tool",

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 percutaneously through peripheral vessels. 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 and in vivo large animal experimental results are presented.",

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AU - Gosline, Andrew H.

AU - Veeramani, Arun

AU - Ting Wu, Ming

AU - Schmitz, Gregory P.

AU - Chen, Richard T.

AU - Arabagi, Veaceslav

AU - Del Nido, Pedro J.

AU - Dupont, Pierre E.

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AB - 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 percutaneously through peripheral vessels. 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 and in vivo large animal experimental results are presented.

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Tissue removal inside the beating heart using a robotically delivered metal MEMS tool

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Keywords

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