A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart

Patronik, Nicholas A.; Ota, Takeyoshi; Zenati, Marco A.; Riviere, Cameron N.

doi:10.1109/tro.2009.2027375

Cited by 59 publications

(55 citation statements)

References 45 publications

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“…In offline testing, this filtering method attenuates the tangential physiological motion component by 81%, from 7.3 ± 1.2 mm to 1.4 ± 0.5 mm. The time delay caused by the filtering was 1 s. More details can be found in [11].…”

Section: Electromagnetic Tracking and Localizationmentioning

confidence: 99%

Accurate Positioning for Intervention on the Beating Heart Using a Crawling Robot

et al. 2010

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Abstract-Heart failure resulting from myocardial infarct, oxygen-deprived tissue death, is a serious disease that affects over 20 million patients in the world. The precise injection of tissue-engineered materials into the infarct site is emerging as a treatment strategy to improve cardiac function for patients with heart failure. We have developed a novel miniature robotic device (HeartLander) that can act as a manipulator for precise and stable interaction with the epicardial surface of the beating heart by mounting directly to the organ. The robot can be delivered to and operate within the intrapericardial space with the chest closed, through a single small incision below the sternum. The tethered crawling device uses vacuum pressure to maintain prehension of the epicardium, and a drive wire transmission motors for actuation. An onboard electromagnetic tracking sensor enables the display of the robot location on the heart surface to the surgeon, and closed-loop control of the robot positioning to targets. In a closed-chest animal study with the pericardium intact, HeartLander demonstrated the ability to acquire a pattern of targets located on the posterior surface of the beating heart within an average of 1.7 ± 1.0 mm. Dye injections were performed following the target acquisitions to simulate injection therapy for heart failure. HeartLander may prove useful in the delivery of intrapericardial treatments, like myocardial injection therapy, in a precise and stable manner, which could be performed on an outpatient basis.

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Section: Electromagnetic Tracking and Localizationmentioning

confidence: 99%

Accurate Positioning for Intervention on the Beating Heart Using a Crawling Robot

et al. 2010

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“…1, is a miniature mobile robot that crawls over the surface of the heart in order to provide therapy in a minimally invasive manner. HeartLander has demonstrated successful locomotion and precise target acquisition on the surface of the porcine beating heart in vivo, and multiple possible therapies have been proposed using this platform [1].…”

Section: Introductionmentioning

confidence: 99%

Improved synchronization of HeartLander locomotion with physiological cycles

Agua

Wood

Riviere

2011

2011 IEEE 37th Annual Northeast Bioengineering Conference (NEBEC)

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Abstract-The variation of intrapericardial pressure due to the respiration and cardiac cycles greatly affects the locomotion efficiency of HeartLander, a minimally invasive surgical robot which adheres to and moves over the surface of the heart. This paper presents work which would allow HeartLander to improve motion efficiency by synchronizing its movement with the physiological cycles using a magnetic tracker. Using models of the respiratory and cardiac cycles generated using Kalman filtering techniques the work presented determines the phase of each physiological cycle in real time, which in turn enables synchronization of HeartLander to maximize locomotion efficiency.

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“…If there are multiple treatment sites close to one another, HeartLander can move the front foot back towards the back foot, and start the process again without moving the back foot. Keeping the back foot stationary reduces slipping [1].…”

Section: Introductionmentioning

confidence: 99%

Reducing operating time of a crawling robot for epicardial surgery

Goyette

Riviere

2010

Proceedings of the 2010 IEEE 36th Annual Northeast Bioengineering Conference (NEBEC)

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Abstract-HeartLander is a small, mobile robot designed to assist with surgical procedures on the surface of the heart. It crawls within the pericardial sac surrounding the heart. The friction forces HeartLander experiences from the pericardium and the heartbeat reduce locomotion efficiency. We have developed an algorithm that creates a plan for reaching a set of treatment targets, while minimizing the time spent in locomotion. Results from simulation show improvement over a simple greedy technique.

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A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart

Cited by 59 publications

References 45 publications

Accurate Positioning for Intervention on the Beating Heart Using a Crawling Robot

Accurate Positioning for Intervention on the Beating Heart Using a Crawling Robot

Improved synchronization of HeartLander locomotion with physiological cycles

Reducing operating time of a crawling robot for epicardial surgery

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