@article {1526809,
	title = {A novel highly articulated robotic surgical system for epicardial ablation},
	journal = {Annu Int Conf IEEE Eng Med Biol Soc},
	volume = {2008},
	year = {2008},
	month = {2008},
	pages = {250-3},
	abstract = {We have developed a novel, highly articulated robotic surgical system to enable minimally invasive intrapericardial interventions through a subxiphoid approach and have performed preliminary tests of epicardial left atrial ablation in porcine (N=3) and human cadaver (N=2) preparations. In this study, the novel highly articulated robotic surgical system successfully provided safe epicardial ablations to the left atrium in porcine beating heart models via a subxiphoid approach. We have also performed complex guidance of the robot and subsequent ablation in a cadaveric preparation for successful pulmonary vein isolation.},
	keywords = {Animals, Cardiovascular Surgical Procedures, Catheter Ablation, Equipment Design, Equipment Failure Analysis, In Vitro Techniques, Pericardium, Reproducibility of Results, Robotics, Sensitivity and Specificity, Surgery, Computer-Assisted, Swine, User-Computer Interface},
	issn = {2375-7477},
	doi = {10.1109/IEMBS.2008.4649137},
	author = {Ota, Takeyoshi and Degani, Amir and Schwartzman, David and Zubiate, Brett and McGarvey, Jeremy and Choset, Howie and Zenati, Marco A}
}
