Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery

F. Razjouyan, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 97 - 98.


Download
  • Adobe portable document format (pdf) (240KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}