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

Overview

Journal IEEE Trans Robot

Date 2010 Feb 25

PMID 20179783

Citations 19

Authors

Nicholas A Patronik

Takeyoshi Ota

Marco A Zenati

Cameron N Riviere

Affiliations

Soon will be listed here.

Abstract

Robotic assistance enhances conventional endoscopy; yet, limitations have hindered its mainstream adoption for cardiac surgery. HeartLander is a miniature mobile robot that addresses several of these limitations by providing precise and stable access over the surface of the beating heart in a less-invasive manner. The robot adheres to the heart and navigates to any desired target in a semiautonomous fashion. The initial therapies considered for HeartLander generally require precise navigation to multiple surface targets for treatment. To balance speed and precision, we decompose any general target acquisition into navigation to the target region followed by fine positioning to each target. In closed-chest, beating-heart animal studies, we demonstrated navigation to targets located around the circumference of the heart, as well as acquisition of target patterns on the anterior and posterior surfaces with an average error of 1.7 mm. The average drift encountered during station-keeping was 0.7 mm. These preclinical results demonstrate the feasibility of precise semiautonomous delivery of therapy to the surface of the beating heart using HeartLander.

Citing Articles

Coronary vessel detection methods for organ-mounted robots.

Rasmussen E, Shiao E, Zourelias L, Halbreiner M, Passineau M, Murali S Int J Med Robot. 2021; 17(5):e2297.

PMID: 34081821 PMC: 8416707. DOI: 10.1002/rcs.2297.

Autonomous Robotic Intracardiac Catheter Navigation Using Haptic Vision.

Fagogenis G, Mencattelli M, Machaidze Z, Rosa B, Price K, Wu F Sci Robot. 2019; 4(29).

PMID: 31414071 PMC: 6693882. DOI: 10.1126/scirobotics.aaw1977.

Miniaturized Robotic End-Effector with Piezoelectric Actuation and Fiber Optic Sensing for Minimally Invasive Cardiac Procedures.

Aranda-Michel E, Yi J, Wirekoh J, Kumar N, Riviere C, Schwartzman D IEEE Sens J. 2018; 18(12):4961-4968.

PMID: 30555284 PMC: 6289201. DOI: 10.1109/JSEN.2018.2828940.

Techniques for epicardial mapping and ablation with a miniature robotic walker.

Meglan D, Lv W, Cohen R, Riviere C Robot Surg. 2017; 4:25-31.

PMID: 28966928 PMC: 5619864. DOI: 10.2147/RSRR.S127047.

Physiological motion modeling for organ-mounted robots.

Wood N, Schwartzman D, Zenati M, Riviere C Int J Med Robot. 2017; 13(4).

PMID: 28211607 PMC: 5561420. DOI: 10.1002/rcs.1805.

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