The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This paper describes a technique to improve the locomotion of a miniature crawling robot, (Heart Lander) that uses suction to adhere to the surface of the beating heart. During locomotion, maintaining a vacuum seal with at least one of the suction pads is crucial. A new algorithm was developed to analyze data from pressure sensors monitoring the suction pads to accurately determine the suction status. HeartLander demonstrated successful locomotion on a realistic beating heart model when the algorithm was implemented.

Notes

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

F. Razjouyan, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere, "Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery," Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 97 - 98.

BibTeX Reference

@inproceedings{Patronik_2006_5499,
   author = "F. Razjouyan and Nicholas Patronik and Marco A Zenati and Cameron Riviere",
   title = "Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery",
   booktitle = "Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference",
   pages = "97 - 98",
   month = "April",
   year = "2006",
}

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