This research introduces iCROSS, a robotic system designed for infant cardiac surgery, focusing on patent ductus arteriosus (PDA) closure. The system combines high-dexterity dual-arm manipulators with a high-resolution RGB-D imaging probe, enabling precise teleoperated PDA ligation. Its performance has been validated through in-vivo trials on porcine models, demonstrating its clinical feasibility, safety, and potential for broader applications in minimally invasive microsurgery.

The iCROSS is the first robot-assisted surgical system for PDA ligation in premature infants, designed to overcome spatial constraints and control interface challenges in robotic microsurgery. It features dual-arm manipulators, a real-time RGB-D imaging probe, and supports haptic feedback during teleoperation, further enhancing surgical precision and safety.

iCROSS is the first microsurgical robot designed specifically for infant cardiac surgery, offering strong clinical value and potential for technology translation. The system integrates depth sensing, modular surgical tools, and real-time force feedback to enable precise operations in confined surgical fields. It is suitable for microsurgical applications, surgical training, remote procedures, and intelligent medicine, contributing to advancements in medical robotics and healthcare innovation.