Micro-robotic percutaneous targeting of type II endoleaks in the angio-suite

• Published in: International journal for computer assisted radiology and surgery 2024-08, Vol.19 (8), p.1489-1494
• Main Authors: Widmann, Gerlig, Deeg, Johannes, Frech, Andreas, Klocker, Josef, Feuchtner, Gudrun, Freund, Martin
• Format: Article
• Language: English
• Subjects: Aged; Aged, 80 and over; Aneurysms; Aorta; Aortic Aneurysm, Abdominal - surgery; Blood flow; Computed tomography; Computer Imaging; Computer Science; Embolization; Embolization, Therapeutic - methods; Endoleak - etiology; Endovascular Procedures - methods; Female; Health Informatics; Humans; Imaging; Male; Medicine; Medicine & Public Health; Needles; Original; Original Article; Pattern Recognition and Graphics; Perforation; Radiology; Robot control; Robotic Surgical Procedures - methods; Robotics; Robotics - methods; Surgery; Tomography, X-Ray Computed - methods; Treatment Outcome; Vision; Workflow
• ISSN: 1861-6429; 1861-6410; 1861-6429
• DOI: 10.1007/s11548-024-03195-y

Purpose Endovascular aneurysm repair has emerged as the standard therapy for abdominal aortic aneurysms. In 9–30% of cases, retrograde filling of the aneurysm sac through patent branch arteries may result in persistence of blood flow outside the graft and within the aneurysm sac. This condition is called an endoleak type II, which may be treated by catheter-based embolization in case of continued sac enlargement. If an endovascular access is not possible, percutaneous targeting of the perfused nidus remains the only option. However, this can be very challenging due to the difficult access and deep puncture with risk of organ perforation and bleeding. Innovative targeting techniques such as robotics may provide a promising option for safe and successful targeting. Methods In nine consecutive patients, percutaneous embolization of type II endoleaks was performed using a table-mounted micro-robotic targeting platform. The needle path from the skin entry to the perfused nidus was planned based on the C-arm CT image data in the angio-suite. Entry point and path angle were aligned using the joystick-operated micro-robotic system under fluoroscopic control, and the coaxial needle was introduced until the target point within the perfused nidus was reached. Results All punctures were successful, and there were no puncture-related complications. The pre-operative C-arm CT was executed in 11–15 s, and pathway planning required 2–3 min. The robotic setup and sterile draping were performed in 1–2 min, and the alignment to the surgical plan took no longer than 30 s. Conclusion Due to the small size, the micro-robotic platform seamlessly integrated into the routine clinical workflow in the angio-suite. It offered significant benefits to the planning and safe execution of double-angulated deeply localized targets, such as type II endoleaks.