Pigs are used as laboratory animals in preclinical studies on medical devices for cardiac surgery. On the one hand, the anatomy of the cardiovascular system of these animals has been well studied and acknowledged suitable for use and testing of new cardiovascular devices developed for humans. On the other hand, there are no morphometric characteristics of the aortic root and other parts of it in pigs with different weights. This can lead to difficulties in the work of researchers and even result in the death of experimental animals due to the discrepancy in the size of the implantable devices. Thus, such information is essential to improve the efficiency of surgical technologies used in the correction of aortic pathologies in its various sections. The purpose of our research is to study the anatomy of the aorta in mini-pigs, and to assess whether the size, age, and sex of animals affect the size of the main structures in their aorta. In addition, we attempted to compare the results obtained by the method of transesophageal echocardiography (TEE) and angiography. We studied 28 laboratory mini-pigs weighing from 40 to 105 kg, and then we compared our results with other studies and did not find any relationship between the external somatometric characteristics of animals and the size of their aorta. Each animal has an individual anatomy, so they are to be examined in terms of preoperative planning by any available method - echocardiography, angiography or multispiral computed tomography (MRI).

Continuum robots play the role of end-effector in various surgical robots and endoscopic devices. The robots may be categorized as rigid or soft continuum robots (SCRs). While the SCRs have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot considering concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as Transesophageal Echocardiography (TEE), but the methodology can be implemented in other similar applications. Since established rigid carrier construction make use of principles we find as well embodied in vertebral spines, the paragon for soft robot solution can be the phylogenetic precursor of the spine, the Chorda dorsalis. The feasibility of fabrication of a soft endoscopic device derived from that paragon within a robotics laboratory was shown empirically by producing a three-segment pneumatic SCR. The kinematic model was proposed based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) was proposed and applied to realize kinematic similarity. The simulation results indicate that the algorithm acting as an open-loop controller forces the soft robot tip to follow the desired path which in this case is the path of the rigid probe. It is concluded that the solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.

Background: Ultrasonography in medicine allows real time “dynamic” assessment of structure where the procedure takes place. This feature and design could be more advantageous than radiological “static” view imaging. Thus, it is the convincing imaging tool for many structural cardiovascular and gastrointestinal interventions. Technically, the image resolution for Endosonography (EUS) is noticeably higher than that of transesophageal echocardiography (TOE). The benefits of investigating the cardiovascular structures using this high-resolution endoscope are unknown. Clinical applications: We present clinical applications of incidentally diagnosed cardiovascular structures, which demonstrated during routine gastrointestinal endosonographic procedures. These diagnoses could influence changes in management strategies. Discussion: The introduction of high resolution endosonography (EUS) in cardiology allows "panoramic" and “dynamic” real-time assessment of cardiovascular structures with an accurate definition of the variable cardiovascular anatomy. Using this advantage during routine gastrointestinal procedures allows for the early detection of asymptomatic cardiac pathologies and accompanying diseases, prevents double investigations for patients and operators, eliminates the risk of esophageal trauma, highlights interdisciplinary teamwork benefits, and could facilitate in the future the indications for cardiac-based structural procedures, which could influence management strategies with improved safety, efficacy, and economic outcomes. Conclusion: The introduction of endosonography (EUS) in cardiology provide high-resolution real-time assessments of cardiovascular anatomy. Thus, it can be used for early detections of variable cardiovascular pathologies during routine gastrointestinal procedures.