Cardiac Patch Transplantation Instruments for Robotic Minimally Invasive Cardiac Surgery: Initial Proof-of-concept Designs and Surgery in a Porcine Cadaver

Christopher D Roche; Gautam R Iyer; Minh H Nguyen; Sohaima Mabroora; Anthony Dome; Kareem Sakr; Rohan Pawar; Vincent Lee; Christopher C Wilson; Carmine Gentile

doi:10.3389/frobt.2021.714356

Cardiac Patch Transplantation Instruments for Robotic Minimally Invasive Cardiac Surgery: Initial Proof-of-concept Designs and Surgery in a Porcine Cadaver

Front Robot AI. 2022 Jan 18:8:714356. doi: 10.3389/frobt.2021.714356. eCollection 2021.

Authors

Affiliations

¹ Northern Clinical School of Medicine, Kolling Institute, University of Sydney, Sydney, NSW, Australia.
² Faculty of Engineering and IT, University of Technology Sydney (UTS), Sydney, NSW, Australia.
³ Department of Cardiothoracic Surgery, University Hospital of Wales, Cardiff, United Kingdom.

Abstract

Background: Damaged cardiac tissues could potentially be regenerated by transplanting bioengineered cardiac patches to the heart surface. To be fully paradigm-shifting, such patches may need to be transplanted using minimally invasive robotic cardiac surgery (not only traditional open surgery). Here, we present novel robotic designs, initial prototyping and a new surgical operation for instruments to transplant patches via robotic minimally invasive heart surgery. Methods: Robotic surgical instruments and automated control systems were designed, tested with simulation software and prototyped. Surgical proof-of-concept testing was performed on a pig cadaver. Results: Three robotic instrument designs were developed. The first (called "Claw" for the claw-like patch holder at the tip) operates on a rack and pinion mechanism. The second design ("Shell-Beak") uses adjustable folding plates and rods with a bevel gear mechanism. The third ("HeartStamp") utilizes a stamp platform protruding through an adjustable ring. For the HeartStamp, rods run through a cylindrical structure designed to fit a uniportal Video-Assisted Thorascopic Surgery (VATS) surgical port. Designed to work with or without a sterile sheath, the patch is pushed out by the stamp platform as it protrudes. Two instrument robotic control systems were designed, simulated in silico and one of these underwent early 'sizing and learning' prototyping as a proof-of-concept. To reflect real surgical conditions, surgery was run "live" and reported exactly (as-it-happened). We successfully picked up, transferred and released a patch onto the heart using the HeartStamp in a pig cadaver model. Conclusion: These world-first designs, early prototypes and a novel surgical operation pave the way for robotic instruments for automated keyhole patch transplantation to the heart. Our novel approach is presented for others to build upon free from restrictions or cost-potentially a significant moment in myocardial regeneration surgery which may open a therapeutic avenue for patients unfit for traditional open surgery.

Keywords: cardiac patch; cardiac surgery; cardiothoracic; keyhole surgery; minimally invasive (MIS); myocardial repair; robotics; thoracic.