Achieving superior outcomes through the use of robots in medical applications requires an integrated approach to the design of the robot, tooling and the procedure itself. In this paper, this approach is applied to develop a robotic technique for closing abnormal communication between the atria of the heart. The goal is to achieve the efficacy of surgical closure as performed on a stopped, open heart with the reduced risk and trauma of a beating-heart catheter-based procedure. In the proposed approach, a concentric tube robot is used to percutaneously access the right atrium and deploy a tissue approximation device. The device is constructed using a metal microelectromechanical system (MEMS) fabrication process and is designed to both fit the manipulation capabilities of the robot as well as to reproduce the beneficial features of surgical closure by suture. The effectiveness of the approach is demonstrated through ex vivo and in vivo experiments.

中文翻译：

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使用金属 MEMS 组织逼近工具的经皮心内跳动心脏手术

通过在医疗应用中使用机器人来实现卓越的结果需要对机器人、工具和程序本身的设计采用综合方法。在本文中，这种方法被应用于开发一种机器人技术，用于关闭心脏心房之间的异常通信。目标是在停止的、开放的心脏上实现手术闭合的功效，同时降低基于心脏导管手术的风险和创伤。在所提出的方法中，使用同心管机器人经皮进入右心房并部署组织逼近装置。该设备是使用金属微机电系统 (MEMS) 制造工艺构建的，其设计既适合机器人的操作能力，又可以重现缝合手术闭合的有益特征。通过离体和体内实验证明了该方法的有效性。