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Carnegie Mellon Robotics Institute

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Abstract

This document describes the design and preliminary testing of a cable-driven robot for the purpose of traveling on the surface of the beating heart to administer therapy. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive cardiac surgery. Previous versions of the robot have been remotely actuated through push-pull wires, while visual feedback was provided by fiber optic transmission. Although these early models were able to perform locomotion in vivo on porcine hearts, the stiffness of the wire-driven transmission and fiber optic camera limited the mobility of the robots. The new prototype described in this document is actuated by two antagonistic cable pairs, and has a color CCD camera located in the front section of the device. These modifications have resulted in superior mobility and visual feedback. The cable-driven prototype has successfully demonstrated prehension, locomotion, and tissue dye injection during in vitro testing with a poultry model.

Keywords

mobile robot, cardiac surgery, beating heart, minimally invasive, myocardial injection

Notes

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

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

Associated Project(s): HeartLander

Number of pages: 4

Text Reference

Nicholas Patronik, Marco A. Zenati, and Cameron Riviere, "A Miniature Cable-Driven Robot for Crawling on the Heart," Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005, pp. 5771 - 5774.

BibTeX Reference

@inproceedings{Patronik_2005_5054,
   author = "Nicholas Patronik and Marco A Zenati and Cameron Riviere",
   title = "A Miniature Cable-Driven Robot for Crawling on the Heart",
   booktitle = "Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)",
   pages = "5771 - 5774",
   month = "September",
   year = "2005",
}

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