The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This paper describes the development of a robotic surgical device to facilitate minimally invasive, beating-heart cardiac therapies that can be performed within the pericardium. The concept we propose is that the device be equipped with the ability to adhere to the surface of the epicardium and locomote to any position and orientation under the direct control of a physician. As compared to current minimally invasive cardiac robotics, our approach obviates cardiac stabilization, lung deflation, differential lung ventilation, and reinsertion of laparoscopic tools. These advantages will result in greater efficiency and reduced trauma for the administration of intrapericardial therapies. This paper describes the current design of the robotic device and presents preliminary results.

Keywords

minimally-invasive, beating-heart, cardiac, medical, surgical, mobile, robot

Notes

Sponsor: The Pittsburgh Foundation

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): HeartLander

Number of pages: 2

Text Reference

Nicholas Patronik, Marco A. Zenati, and Cameron Riviere, "Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies," IEEE 30th Annual Northeast Bioengineering Conference, April, 2004, pp. 239-240.

BibTeX Reference

@inproceedings{Patronik_2004_4717,
   author = "Nicholas Patronik and Marco A Zenati and Cameron Riviere",
   editor = "Steven Schreiner, Judy Cezeaux, Diane Muratore",
   title = "Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies",
   booktitle = "IEEE 30th Annual Northeast Bioengineering Conference",
   pages = "239-240",
   publisher = "IEEE",
   month = "April",
   year = "2004",
}

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