29Characterising the relationship between force and catheter stability during manual and robotic paroxysmal AF ablation

International journal of computer assisted radiology and surgery, 2018

In cardiac electrophysiology, a long and flexible catheter is delivered to a cardiac chamber for the treatment of arrhythmias. Although several robot-assisted platforms have been commercialized, the disorientation in tele-operation is still not well solved. We propose a validation platform for robot-assisted cardiac EP catheterization, integrating a customized MR Safe robot, a standard clinically used EP catheter, and a human-robot interface. Both model-based and model-free control methods are implemented in the platform for quantitative evaluation and comparison. The model-based and model-free control methods were validated by subject test (ten participants), in which the subjects have to perform a simulated radiofrequency ablation task using both methods. A virtual endoscopic view of the catheter is also provided to enhance hand-to-eye coordination. Assessment indices for targeting accuracy and efficiency were acquired for the evaluation. (1) Accuracy: The average distance measure...

Revista Brasileira de Cirurgia Cardiovascular, 2004

Pacing and Clinical Electrophysiology, 2014

Europace, 2012

Pacing and Clinical Electrophysiology Pace, 2012

Mechatronics in Action: Case Studies in Mechatronics-Applications and Education, pp: 157, 2010

Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, 2013

Objective The purpose of this study was to determine the effect of three-dimensional (3D) binocular, stereoscopic, and two-dimensional (2D) monocular visualization on robotics-assisted mitral valve annuloplasty versus conventional techniques in an ex vivo animal model. In addition, we sought to determine whether these effects were consistent between novices and experts in robotics-assisted cardiac surgery. Methods A cardiac surgery test-bed was constructed to measure forces applied during mitral valve annuloplasty. Sutures were passed through the porcine mitral valve annulus by the participants with different levels of experience in robotics-assisted surgery and tied in place using both robotics-assisted and conventional surgery techniques. Results The mean time for both the experts and the novices using 3D visualization was significantly less than that required using 2D vision (P < 0.001). However, there was no significant difference in the maximum force applied by the novices t...

Methods of Information in Medicine, 2016

Delineates three distinct taxons for the meaning of the word esoteric as it applies to Freemasonry, from the nominal (the regulation of the secret work), to the conceptual (the location of secret meanings within Masonic myth and ritual), to the cultural (referring to western esotericism as a cross-traditional genre).