Electrode array tracking and manipulating for robot assisted epicardial electrophysiological mapping

A small electrode array manipulable by a surgical robot was developed and evaluated through an in vivo experiment. And this paper proposes a new tracking method for locating an electrode array in a robot assisted arrhythmia surgery using an endoscopic stream. Tracking accuracy was also evaluated by a computer simulation and a preliminary laboratory performance test. Consequently, this new small electrode array and our proposed electrode array tracking method enable the global epicardial electrophysiological mapping system to be integrated with a robot assisted arrhythmia surgery.