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Marco A Zenati
Adjunct Faculty (Adjunct)

Email address: zenatim@msx.upmc.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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medical robotics and MEMS

• Medical Instrumentation Lab - We are developing intelligent tools for microsurgery and minimally invasive surgery.

• HeartLander - A miniature mobile robot for minimally invasive therapy on the beating heart through a single percutaneous incision.
• Highly-Articulated Robotic Probe - We developed and tested a prototype based on an innovative approach of a highly articulated robotic probe.

• Epicardial Atrial Ablation Using a Novel Articulated Robotic Medical Probe Via a Percutaneous Subxiphoid Approach
  T. Ota, A. Degani, B. Zubiate, A. Wolf, H. Choset, D. Schwartzman, and M.A. Zenati
  nnovations: Technology & Techniques in Cardiothoracic & Vascular Surgery, Vol. 1, No. 6, December, 2006, pp. 335-340. [Abstract]

• Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device
  T. Ota, N. Patronik, C. Riviere, and M.A. Zenati
  Innovations, Vol. 1, No. 5, October, 2006, pp. 227-231. [Abstract]
  Download: pdf [660 KB] copyrighted

• Improved Traction for a Mobile Robot Traveling on the Heart
  N. Patronik, T. Ota, M.A. Zenati, and C. Riviere
  28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2006, pp. 339 - 342. [Abstract]
  Download: pdf [272 KB] copyrighted

• Highly Articulated Robotic Probe for Minimally Invasive Surgery
  A. Degani, H. Choset, A. Wolf, and M.A. Zenati
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation, IEEE, May, 2006, pp. 4167-4172. [Abstract]
  Download: pdf [846 KB] copyrighted

• Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
  F. Razjouyan, N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 97 - 98. [Abstract]
  Download: pdf [240 KB] copyrighted

• Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe
  A. Degani, H. Choset, A. Wolf, T. Ota, and M.A. Zenati
  Proceedings of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, February, 2006, pp. 7 - 12. [Abstract]
  Download: pdf [657 KB] copyrighted

• A Miniature Cable-Driven Robot for Crawling on the Heart
  N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005, pp. 5771 - 5774. [Abstract]
  Download: pdf [330 KB] copyrighted

• Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart
  N. Patronik, M.A. Zenati, and C. Riviere
  Computer Aided Surgery, Vol. 10, No. 4, July, 2005, pp. 225 - 232. [Abstract]
  Download: pdf [663 KB] copyrighted

• The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections
  N. Patronik, C. Riviere, S.E. Qarra, and M.A. Zenati
  Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, Elsevier, Vol. 1281C, June, 2005, pp. 735-739. [Abstract]
  Download: pdf [242 KB] copyrighted

• Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions
  N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Springer, Vol. LNCS 3117, September, 2004, pp. 9 - 16. [Abstract]
  Download: pdf [196 KB] copyrighted