The HeartLander: A novel epicardial crawling robot for myocardial injections

Patronik, Nicholas A.; Riviere, Cameron N.; Qarra, Suad El; Zenati, Marco A.

doi:10.1016/j.ics.2005.03.325

Cited by 18 publications

(6 citation statements)

References 3 publications

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“…The heart has long been a target for surgical robots and various systems continue to investigate how best to treat cardiac diseases, particularly while the heart is beating (e.g., see Section 6) [115]. The HeartLander (HeartLander Surgical) is a minimally invasive robot that uses suction to crawl around the surface of the heart [116,117]. The system is designed for intrapericardial drug delivery, cell transplantation, epicardial atrial ablation, and other such procedures.…”

Section: Neuroarm and Mrbotmentioning

confidence: 99%

Medical Robots: Current Systems and Research Directions

Beasley

2012

Journal of Robotics

245

150

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First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.

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Section: Neuroarm and Mrbotmentioning

confidence: 99%

Medical Robots: Current Systems and Research Directions

Beasley

2012

Journal of Robotics

245

150

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“…The aim is to replace the long, quite rigid and painful endoscope traditionally used in colonoscopy; experiments on pigs have been carried out successfully. [27] develops, with a rather similar locomotion principle, a robot that moves on the heart surface; it has also been experimented on living animals. [28] describes a robot rolling on soft tissue organs in the abdomen; this robot carries a camera.…”

Section: The Era Of Small and Light Dedicated Devices (2000-now)mentioning

confidence: 99%

Computer and Robot-Assisted Medical Intervention

Troccaz

2009

Springer Handbook of Automation

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Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter. Introduction: clinical context and objectivesInformatics and technology have dramatically transformed the clinical practice over the last decades. This technically oriented evolution was parallel to other specific evolutions of medicine:-Diagnostic and therapy procedures tend to be less and less invasive for the patient aiming at reducing pain, post-operative complications, hospital stay, and recovery time. Minimalinvasiveness results in smaller targets reached through narrow access (natural or not) with no direct sensing (vision, touch) and limited degrees of freedom. -More and more data are handled for each patient (e.g. images, signals) in order to prepare and to monitor the medical action and those multi-modality data have to be shared by several actors participating to this action. -As in many domains, quality control gets more and more important and quantitative indicators have to be made available. -Traceability becomes mandatory especially regarding the always increasing number of legal cases. Traceability is also of primary importance in cost management. These evolutions make the medical action more and more complex for the clinician both at the technical level and at the organisational one. Computer-assisted medical interventions may contribute a lot to those clinical objectives. They may provide quantitative and rational collaborative access to patient information, fusion of multi-modal data and their exploitation for planning and execution of medical actions. Computer-assisted medical interventionsThe development of this area from the early eighties results from converging evolutions in medicine, physics, materials, electronics, informatics, robotics, etc. This field and related subfields are given several names almost synonymous: computer-assisted medical interventions (the most general), augmented surgery, computer-assisted surgery, image-guided surgery, medical robotics, surgical navigation, etc. We will subsequently use "computer-assisted medical interventions" or "CAMI" to name the domain.Definition: CAMI aims at providing tools that allow the clinician to use multi-modality data in a rational and quantitative way in order to plan, to simulate a...

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“…An obvious exception could occur for a robot that operates on a rapidly moving organ, such as a beating heart. Even in this case, there are innovative solutions that do not require rapid motion, such as Heartlander [6], which is designed to attach to a beating heart using suction and move along it with inchworm locomotion. Another safety-related design parameter is the robot's workspace, which ideally should only be as large as needed.…”

Section: Manipulationmentioning

confidence: 99%

Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial]

Kazanzides

Fichtinger

Hager

et al. 2008

IEEE Robot. Automat. Mag.

117

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Two decades after the first reported robotic surgical procedure [1], surgical robots are just beginning to be widely used in the operating room or interventional suite. The da Vinci telerobotic system (Intuitive Surgical, Inc.), for example, has recently become more widely employed for minimally invasive surgery [2]. This article, the first in a three-part series, examines the core concepts underlying surgical and interventional robots, including the potential benefits and technical approaches, followed by a summary of the technical challenges in sensing, manipulation, user interfaces, and system design. The article concludes with a review of key design aspects, particularly in the areas of risk analysis and safety design. Note that medical care can be delivered in a surgical suite (operating room) or an interventional suite, but for convenience, we will henceforth use the term surgical to refer to both the surgical and interventional domains. Core Concepts This section describes some of the potential benefits of surgical robots, followed by an overview of the two technical paradigms, surgical computer-aided design and computer-aided manufacturing (CAD/CAM) and surgical assistance, which will be the subjects of the second and third articles in this series.

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The HeartLander: A novel epicardial crawling robot for myocardial injections

Cited by 18 publications

References 3 publications

Medical Robots: Current Systems and Research Directions

Medical Robots: Current Systems and Research Directions

Computer and Robot-Assisted Medical Intervention

Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial]

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