The Journal of Thoracic and Cardiovascular Surgery, 2008
Traditionally integrated coronary artery revascularization has been described as a 2-stage proced... more Traditionally integrated coronary artery revascularization has been described as a 2-stage procedure. We evaluated the safety and feasibility of 1-stage, simultaneous, hybrid, robotically assisted coronary artery bypass grafting surgery and percutaneous coronary intervention. Fifty-eight patients underwent simultaneous, integrated coronary artery revascularization in an operating theater equipped with angiographic equipment. Forty-five patients were men. The mean age was 59 years. All internal thoracic arteries were harvested with robotic assistance. All anastomoses were manually constructed through a small anterior non-rib-spreading incision without cardiopulmonary bypass on the beating heart. Immediately after and within the same operative suite, both angiographic confirmation of graft patency and percutaneous coronary intervention were performed. In 52 patients therapeutic anticoagulation was achieved with the direct thrombin inhibitor bivalirudin. There were no deaths or wound infections. There was 1 perioperative myocardial infarction. One patient had a stroke, and 3 patients required re-exploration for bleeding. The median lengths of intensive care and hospital stay were 1 and 4 days, respectively. All patients were alive and symptom free at follow-up (mean, 20.2 months; range, 1.1-40.8 months). Long-term angiographic follow-up in 54 patients showed 49 (91%) patent grafts (mean, 9.0 months; range, 4.3-40.8 months). There were 7 in-stent restenoses and 2 occluded stents. For multivessel coronary artery disease, simultaneous integrated coronary artery revascularization with bivalirudin is safe and feasible. This approach enables complete multivessel revascularization with decreased surgical trauma and postoperative morbidity. Further studies are necessary to better determine patient selection and long-term outcomes.
IEEE journal of biomedical and health informatics, 2013
In this paper, a computational framework for patient-specific preoperative planning of Robotics-A... more In this paper, a computational framework for patient-specific preoperative planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) is presented. It is expected that preoperative planning of RAMICS will improve the success rate by considering robot kinematics, patient-specific thoracic anatomy, and procedure-specific intraoperative conditions. Given the significant anatomical features localized in the preoperative computed tomography images of a patients thorax, port locations and robot orientations (with respect to the patients body coordinate frame) are determined to optimize qualities such as dexterity, reachability, tool approach angles and maneuverability. To address intraoperative geometric uncertainty, the problem is formulated as a Generalized Semi-Infinite Program (GSIP) with a convex lower-level problem to seek a plan that is less sensitive to geometric uncertainty in the neighborhood of surgical targets. It is demonstrated that with a proper formulation o...
In this paper, a novel formulation for robust surgical planning of robotics-assisted minimally in... more In this paper, a novel formulation for robust surgical planning of robotics-assisted minimally invasive cardiac surgery based on patient-specific preoperative images is proposed. In this context, robustness is quantified in terms of the likelihood of intraoperative collisions and of joint limit violations. The proposed approach provides a more accurate and complete formulation than existing deterministic approaches in addressing uncertainty at the task level. Moreover, it is demonstrated that the dexterity of robotic arms can be quantified as a cross-entropy term. The resulting planning problem is rendered as a chance-constrained entropy maximization problem seeking a plan with the least susceptibility toward uncertainty at the task level, while maximizing the dexterity (cross-entropy term). By such treatment of uncertainty at the task level, spatial uncertainty pertaining to mismatches between the patient-specific anatomical model and that of the actual intraoperative situation is also indirectly addressed. As a solution method, the unscented transform is adopted to efficiently transform the resulting chance-constrained entropy maximization problem into a constrained nonlinear program without resorting to computationally expensive particle-based methods.
Heart rhythm : the official journal of the Heart Rhythm Society, Jan 13, 2015
Post-operative atrial fibrillation (POAF) although often short-lived and self-limiting, is a well... more Post-operative atrial fibrillation (POAF) although often short-lived and self-limiting, is a well-recognized postoperative complication of cardiac surgery and is associated with a two-fold increase in cardiovascular mortality and morbidity OBJECTIVE: Our aim was to determine if intra-operative bilateral pulmonary vein radiofrequency ablation decreases the incidence of POAF in patients undergoing coronary artery bypass grafting (CABG). 175 patients undergoing CABG were prospectively randomized to undergo adjuvant bilateral radiofrequency pulmonary vein ablation in addition to CABG, group A (n=89), or CABG alone, group B (n=86). Intraoperative pulmonary vein isolation (PVI) was confirmed by inability to pace the heart via the pulmonary veins after ablation. All patients received post-operative beta-blockade RESULTS: There was no difference in the incidence of POAF in the treatment group who underwent adjuvant pulmonary vein ablation, group A (37.1%) compared to the control group B who...
Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, 2010
We present a case report of a robotic-assisted mitral valve repair with simultaneous percutaneous... more We present a case report of a robotic-assisted mitral valve repair with simultaneous percutaneous coronary intervention. A 58-year-old man presented with New York Heart Association class III symptoms from severe mitral regurgitation and significant stenosis of the right coronary artery. In a hybrid operating theater, the patient underwent placement of a bare metal stent in the right coronary artery followed immediately by robotic-assisted mitral valve repair. Both procedures were successful and occurred in a timely fashion. The patient experienced no immediate postoperative complications and was discharged home on postoperative day 5. At 2-week follow-up, he had returned to his normal activities of daily living and at 1 year remained asymptomatic. This case report demonstrates the benefits of minimally invasive robotic mitral valve repair in allowing for successful repair, early postoperative return to activity, minimal incision pain, and high patient satisfaction. It further highlights the potential benefit of a hybrid operating theater in allowing surgical and percutaneous coronary intervention procedures to be delivered in a safe and efficient manner.
Transcatheter treatment of patients with degenerated aortic valve stentless prosthesis and low pr... more Transcatheter treatment of patients with degenerated aortic valve stentless prosthesis and low proximal coronary ostia to the aortic annulus remain a challenge because of the elevated risk for coronary obstruction. Newer generation transcatheter aortic valve devices that engage and pull the aortic valve calcium towards the aortic annulus may be beneficial in these patients. We present a case of successful treatment of a degenerated tubular stentless prosthesis with low coronary ostia with a Symetis Acurate TA prosthesis.
The Journal of Thoracic and Cardiovascular Surgery, 2008
Traditionally integrated coronary artery revascularization has been described as a 2-stage proced... more Traditionally integrated coronary artery revascularization has been described as a 2-stage procedure. We evaluated the safety and feasibility of 1-stage, simultaneous, hybrid, robotically assisted coronary artery bypass grafting surgery and percutaneous coronary intervention. Fifty-eight patients underwent simultaneous, integrated coronary artery revascularization in an operating theater equipped with angiographic equipment. Forty-five patients were men. The mean age was 59 years. All internal thoracic arteries were harvested with robotic assistance. All anastomoses were manually constructed through a small anterior non-rib-spreading incision without cardiopulmonary bypass on the beating heart. Immediately after and within the same operative suite, both angiographic confirmation of graft patency and percutaneous coronary intervention were performed. In 52 patients therapeutic anticoagulation was achieved with the direct thrombin inhibitor bivalirudin. There were no deaths or wound infections. There was 1 perioperative myocardial infarction. One patient had a stroke, and 3 patients required re-exploration for bleeding. The median lengths of intensive care and hospital stay were 1 and 4 days, respectively. All patients were alive and symptom free at follow-up (mean, 20.2 months; range, 1.1-40.8 months). Long-term angiographic follow-up in 54 patients showed 49 (91%) patent grafts (mean, 9.0 months; range, 4.3-40.8 months). There were 7 in-stent restenoses and 2 occluded stents. For multivessel coronary artery disease, simultaneous integrated coronary artery revascularization with bivalirudin is safe and feasible. This approach enables complete multivessel revascularization with decreased surgical trauma and postoperative morbidity. Further studies are necessary to better determine patient selection and long-term outcomes.
IEEE journal of biomedical and health informatics, 2013
In this paper, a computational framework for patient-specific preoperative planning of Robotics-A... more In this paper, a computational framework for patient-specific preoperative planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) is presented. It is expected that preoperative planning of RAMICS will improve the success rate by considering robot kinematics, patient-specific thoracic anatomy, and procedure-specific intraoperative conditions. Given the significant anatomical features localized in the preoperative computed tomography images of a patients thorax, port locations and robot orientations (with respect to the patients body coordinate frame) are determined to optimize qualities such as dexterity, reachability, tool approach angles and maneuverability. To address intraoperative geometric uncertainty, the problem is formulated as a Generalized Semi-Infinite Program (GSIP) with a convex lower-level problem to seek a plan that is less sensitive to geometric uncertainty in the neighborhood of surgical targets. It is demonstrated that with a proper formulation o...
In this paper, a novel formulation for robust surgical planning of robotics-assisted minimally in... more In this paper, a novel formulation for robust surgical planning of robotics-assisted minimally invasive cardiac surgery based on patient-specific preoperative images is proposed. In this context, robustness is quantified in terms of the likelihood of intraoperative collisions and of joint limit violations. The proposed approach provides a more accurate and complete formulation than existing deterministic approaches in addressing uncertainty at the task level. Moreover, it is demonstrated that the dexterity of robotic arms can be quantified as a cross-entropy term. The resulting planning problem is rendered as a chance-constrained entropy maximization problem seeking a plan with the least susceptibility toward uncertainty at the task level, while maximizing the dexterity (cross-entropy term). By such treatment of uncertainty at the task level, spatial uncertainty pertaining to mismatches between the patient-specific anatomical model and that of the actual intraoperative situation is also indirectly addressed. As a solution method, the unscented transform is adopted to efficiently transform the resulting chance-constrained entropy maximization problem into a constrained nonlinear program without resorting to computationally expensive particle-based methods.
Heart rhythm : the official journal of the Heart Rhythm Society, Jan 13, 2015
Post-operative atrial fibrillation (POAF) although often short-lived and self-limiting, is a well... more Post-operative atrial fibrillation (POAF) although often short-lived and self-limiting, is a well-recognized postoperative complication of cardiac surgery and is associated with a two-fold increase in cardiovascular mortality and morbidity OBJECTIVE: Our aim was to determine if intra-operative bilateral pulmonary vein radiofrequency ablation decreases the incidence of POAF in patients undergoing coronary artery bypass grafting (CABG). 175 patients undergoing CABG were prospectively randomized to undergo adjuvant bilateral radiofrequency pulmonary vein ablation in addition to CABG, group A (n=89), or CABG alone, group B (n=86). Intraoperative pulmonary vein isolation (PVI) was confirmed by inability to pace the heart via the pulmonary veins after ablation. All patients received post-operative beta-blockade RESULTS: There was no difference in the incidence of POAF in the treatment group who underwent adjuvant pulmonary vein ablation, group A (37.1%) compared to the control group B who...
Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, 2010
We present a case report of a robotic-assisted mitral valve repair with simultaneous percutaneous... more We present a case report of a robotic-assisted mitral valve repair with simultaneous percutaneous coronary intervention. A 58-year-old man presented with New York Heart Association class III symptoms from severe mitral regurgitation and significant stenosis of the right coronary artery. In a hybrid operating theater, the patient underwent placement of a bare metal stent in the right coronary artery followed immediately by robotic-assisted mitral valve repair. Both procedures were successful and occurred in a timely fashion. The patient experienced no immediate postoperative complications and was discharged home on postoperative day 5. At 2-week follow-up, he had returned to his normal activities of daily living and at 1 year remained asymptomatic. This case report demonstrates the benefits of minimally invasive robotic mitral valve repair in allowing for successful repair, early postoperative return to activity, minimal incision pain, and high patient satisfaction. It further highlights the potential benefit of a hybrid operating theater in allowing surgical and percutaneous coronary intervention procedures to be delivered in a safe and efficient manner.
Transcatheter treatment of patients with degenerated aortic valve stentless prosthesis and low pr... more Transcatheter treatment of patients with degenerated aortic valve stentless prosthesis and low proximal coronary ostia to the aortic annulus remain a challenge because of the elevated risk for coronary obstruction. Newer generation transcatheter aortic valve devices that engage and pull the aortic valve calcium towards the aortic annulus may be beneficial in these patients. We present a case of successful treatment of a degenerated tubular stentless prosthesis with low coronary ostia with a Symetis Acurate TA prosthesis.
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