We have developed a novel highly articulated robotic probe (HARP) that can thread through tightly packed volumes without disturbing the surrounding tissues and organs. We use cardiac surgery as the focal application of this work. As such, we have designed the HARP to enter the pericardial cavity through a subxiphoid port. The surgeon can effectively reach remote intrapericardial locations on the epicardium and deliver therapeutic interventions under direct control. Reducing the overall cross-sectional diameter of the mechanism was the main challenge in the design of this device. Our device differs from others in that we use conventional actuation and still have good maneuverability. We have performed simple proof-of-concept clinical experiments to give preliminary validation of the ideas presented here

Almost all computer-assisted orthopaedic surgery systems that rely on the anterior pelvic plane definition, such as in computed tomography and magnetic resonance image-based, fluoroscopy-based, and nonimage total hip replacement approaches, are derived from identifying two pairs of pelvic bony landmarks: anterior superior iliac spines and the pubic tubercles. Although these systems strive to achieve cup alignment accuracy of approximately 1°, even a minor failure to correctly identify these anatomic landmarks can lead to higher inaccuracies in the final cup alignment. This study shows how to examine the effects of these inaccuracies on the final acetabular cup implant orientation during total hip replacement by generating a kinematic model, which then is simulated. Simulation results indicate that, for example, a total error of 4 mm in measuring the anterior superior iliac spine and the pubic tubercles would result in a final cup orientation of 47° and 27° in abduction and version respectively, resulting in a 2° abduction error and 7° error in version when targeting 45° abduction and 20° version results. These calculations can be repeated for any error values.