Percutaneous intrapericardial interventions using a highly articulated robotic probe

In order to overcome the limitations of currently available assistive technologies for minimally invasive surgery (MIS), we have developed a novel highly articulated robotic probe (HARP) that can exploit its snake-like structure to navigate in a confined anatomical environment while minimally interacting with the environment along its path. We believe that for procedures involving epicardial interventions on the beating heart, cardiac MIS can be effectively realized with the HARP, entering the pericardial cavity through a subxiphoid port, reaching remote intrapericardial locations on the epicardium without causing hemodynamic and electrophysiologic interference and delivering therapeutic interventions under the direct control of the surgeon.