Remote Robotic System Research Articles

Persistent iatrogenic atrial septal defect after a single-puncture, double-transseptal approach for pulmonary vein isolation using a remote robotic navigation system: results from a prospective study

Persistent iatrogenic atrial septal defect (iASD) after transseptal puncture for pulmonary vein isolation (PVI) has been described recently as a complication of PVI. No data exists evaluating systematically the incidence and clinical implications of iASDs after PVI using a remote robotic navigation system (RNS) with sheaths with a distinct larger outer diameter. In this prospective study, 40 patients with either paroxysmal (n = 22, 55%) or persistent symptomatic atrial fibrillation were treated with circumferential PVI using an RNS. In all patients, a single-puncture, double-transseptal approach was used to access the left atrium. Transoesophageal echocardiography was performed before and the day after PVI as well as after a 3 and 6 months follow-up (FU). The day after ablation an iASD was detected in 38 of 40 (95%) patients with a mean diameter of 3.45 +/- 1.5 mm. At 6-month FU, the iASDs were closed in 30 of 39 (78.9%) patients. During the 6-month FU period, no patient died or suffered from cerebral or cardiac embolism. After a single-puncture, double-transseptal approach for PVI using the RNS, iASDs show a high spontaneous closure rate of 78.9% after a 6-month FU period. Persistent iASDs following PVI with the RNS are not associated with an increased rate of paradoxical embolism or with relevant shunting.

Remote Robotic Navigation and Electroanatomical Mapping for Ablation of Atrial Fibrillation

Background— Radiofrequency current ablation of atrial fibrillation (AF) requires high technical skills to achieve optimal catheter stability and is associated with an individually high x-ray exposure to both the patient and the operator. To facilitate catheter navigation and to reduce the operator’s x-ray burden, remote navigation (RN) systems have been developed. Considerations for navigation of a novel remote robotic navigation system in pulmonary vein isolation (PVI) procedures are reported. Methods and Results— In 65 patients with drug-refractory AF (43 paroxysmal, 22 persistent), complete circumferential PVI was performed using RN in conjunction with different electroanatomic mapping systems. Acute complete PVI using exclusively RN was achieved in 95%. The procedure time was 195�40 minutes. The operator’s x-ray exposure time was reduced by 6�4 minutes (35%) using RN. In 7 of 14 patients with persistent AF, conversion to sinus rhythm was achieved by radiofrequency current ablation. During a median follow-up period of 239 days (range, 184 to 314 days), 47 of 65 patients (73%) remained free of any documented atrial tachyarrhythmia recurrences after a single procedure. The relative proportion of patients remaining free of AF was 76% and 68% for paroxysmal and persistent AF, respectively. Conclusions— PVI using the novel RN system can be performed safely and effectively. One third of the operator’s fluoroscopy exposure time might be saved using RN. However, the questions of whether the overall fluoroscopy exposure is reduced by RN and whether RN improves PVI procedures needs to be assessed during a comparative trial between man and machine.

1P1-E12 RTMを用いた遠隔ロボットシステムにおけるデータ共有方式の検討と構築(RTミドルウェアとオープンシステム)

1P1-E12 RTMを用いた遠隔ロボットシステムにおけるデータ共有方式の検討と構築(RTミドルウェアとオープンシステム)

Early Experience with a Computerized Robotically Controlled Catheter System

Recently, the use of robotic assisted surgery has been utilized in cardiac surgical procedures. The use of robotics may offer benefits in precision, stability and control of instruments remotely. We report early experience with a novel remote robotic catheter control system (CCS). We used a computerized robotically controlled catheter system that enables the user to remotely manipulate the tip of a catheter precisely in three dimensions. We tested the robotic catheter control systems ability to navigate within the heart and to make precise, rapid and repeatable movements. We compared the CCS with the ability of a standard quadripolar steerable ablation catheter placed in a deflectable sheath to navigate and make precision movements. Twelve ex-vivo porcine hearts were utilized to permit accurate measurements of navigation and precision. Eight targets were selected for navigation and precision testing. Time was measured for the catheter to reach the predefined target from a specific starting point to test navigation. In addition, time was measured to contact a discrete 0.8 mm target in order to test precision. The use of the CCS reduced the time needed for both navigation (8.5 +/- 13.9 sec vs. 22.7 +/- 26.7 sec, p = 0.002) and significantly decreased the time for precision targeting (10.1 +/- 6.9 sec vs. 29.6 +/- 26.4 sec, p < 0.001) in the specific RA and LA sites in the ex-vivo hearts. The use of a computerized robotically assisted catheter control system is feasible and shows promise in rapid precision movement of the catheter. Further study is needed to elucidate the role of such a system in-vivo and in patient specific catheter ablation and mapping.

Remote Control of Real and Virtual Welding Robots for Learning

An application of a Mixed Reality concept to Internet-Based Robotics will be presented. It will be argued how a coupling of real and virtual, local and remote robot systems may support a cost oriented training and education in context related robotics. This application is related to Hyper-Bonds, our unified concept to describe complex effort/flow driven automation systems distributed over real and virtual worlds. It allows selected materialization of parts of the system in reality and is functionally connected to a simulation model.

Robotic Assisted Laparoscopic Sural Nerve Grafting During Radical Prostatectomy: Initial Experience

Sural nerve grafting has been done in select patients undergoing radical prostatectomy with unilateral or bilateral wide excision of the neurovascular bundle in an effort to preserve potency. We describe a novel technique of laparoscopic sural nerve grafting after radical prostatectomy using the da Vinci (Intuitive Surgical, Mountain View, California) robot. The procedure was performed successfully in 3 potent men 48, 49 and 59 years old, respectively. In patient 1 the entire procedure was performed robotically using a 6 port transperitoneal approach. In patients 2 and 3 the robot was used only for sural nerve grafting and urethrovesical anastomosis, while radical prostatectomy was performed by conventional laparoscopy. After the completion of radical prostatectomy with deliberate wide resection of the 2 neurovascular bundles in patients 1 and 3, and unilateral excision of the left neurovascular bundle in patient 2 a plastic surgery team harvested 10 to 15 cm of sural nerve from the left calf. Sural nerve grafts were interposed robotically by placing 4 to 6 interrupted perineural stitches of 6 or 7-zero polypropylene sutures. Mean operative time was 6.5 hours, mean blood loss was 216 cc and mean hospital stay was 2.3 days. Surgical margins were focally positive at the apex in the patients 1 and 3. During a followup of 7, 5 and 1 months patient 1 reported penile engorgement with sildenafil not sufficient for penetration, patient 2 with unilateral nerve preservation was potent without any medication and patient 3 did not achieve any degree of erection, respectively. The da Vinci remote robotic system technically facilitates sural nerve grafting during laparoscopic radical prostatectomy. Long-term potency data are essential to validate the technical success.

Internet-Based Teleoperation of Underwater Vehicles

In this paper the complete software and hardware communication infrastructure for Internet teleoperation of ROVs, developed by the Robotlab (the Robotics Group ofthe CNR-ISSIA Genoa Branch) will be described. The basic aim of an Internet robotic teleoperation system is to furnish the possibility, for a common user, having a standard connection to the World Wide Web, of easily teleoperating a robot located anywhere in the world from the comfort of his/her home or lab. In the case of marine applications, there is a great interest to succeed in allowing to scientific end-users, e.g. oceanographers, biologists and geologists, to control from their labs the execution of scientific missions carried out by underwater vehicles operating with strict interactions with the environment in remote and harsh sites. Operating in this research framework, a number of Internetbased teleoperation experiments of Romeo, the latest ROV (Remotely Operated Vehicle) built by Robotlab, in order to evaluate the possibility of executing reliable Internet teleoperation of remote robotic systems in actual operating conditions.

Internet-Based Robotic System Using CORBA as Communication Architecture

In this paper, we propose the Internet-based robotic system that uses Common Object Request Broker Architecture (CORBA) to implement networking connections between a client and a remote robotic system. The client can transparently invoke a method on a server across the network without any need to know where the application servers are located, or what programming language and operating system are used. This lets the system overcome the shortcomings of the other typical Internet robotic system. To cope with time delays on the communication path, we have implemented the robot control server, which allows the user to control the telerobotic system at a task-level. We have also implemented the live image feedback server, which provides live image feedback for a remote user. The proposed system gives the users the ability to operate the remote robotic system to retrieve and manipulate the desired tableware or other things to support the aged and disabled over the Internet by using the intuitive user interface.

NASA robotics research for planetary surface exploration

The surface systems technology under development has long-range objectives that are quite challenging and will lead to revolutionary capabilities. Many of the technologies needing development are in their infancy: multiple, coordinated multiscale (small and large) special robots forming networks; Remote robotic work systems; Extension of lifetime and power performance envelopes by orders of magnitude; Local robotic outpost communication architectures and systems, high-rate surface switching and aggregation centers, and/or aero-synchronous network relays; Manufacture of propellants, oxygen, water, and other resources. However, substantial initial steps are being made toward the long-range goals by seeking and supporting activities that lead to early proof-of-principle experiments in selected areas. Evolution of the technology and infusion into flight systems will require major achievements from the community of researchers involved, and this effort will be interesting and exciting.

A human machine interface for distributed virtual laboratories

To support a distributed virtual laboratory, the Department of Electrical and Computer Engineering at Carnegie Mellon University has developed Onika, an ironically programmed human machine interface with hypermedia capabilities. Onika can retrieve reconfigurable real-time software modules from remote sites via the Internet or World Wide Web and integrate these modules with locally developed modules. Developers can then use Onika to assemble the resulting reusable code into applications in order to control both local and remote robotic systems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

Stable adaptive teleoperation

A study is made of how the existence of transmission time delays affects the application of advanced robot control schemes to effective force-reflecting telerobotic systems. This application best exploits the presence of the human operator while making full use of available robot control technology and computing power. A physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays. The notion of wave variable is utilized to characterize time-delay systems and leads to a configuration for force-reflecting teleoperation. The effectiveness of the approach is demonstrated experimentally. Within the same framework, an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform, or enhance the remote dynamics perceived by the operator.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

A Remote Maintenance Robot System for a Pulsed Nuclear Reactor

A remote maintenance robot system for use in a hazardous environment is presented. The system consists of a programmable turntable, a robot, and hoist subsystems, which operate under the control of a supervisory computer to perform coordinated programmed maintenance operations on a pulsed nuclear reactor.