The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

HeartLander is a small, mobile robot designed to assist surgical procedures on the surface of the heart. It crawls within the pericardial sac surrounding the heart. Numerous potential clinical uses for HeartLander involve injections or other interventions at multiple locations on the epicardial surface. To minimize treatment time, we have developed an algorithm that optimizes a plan for reaching a given set of treatment targets. Results from in vitro evaluation on a beating heart model show improvement over a greedy technique.

Keywords

surgery, medical robotics, heart, accuracy, mobile robots

Notes

Sponsor: National Institutes of Health

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

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

Associated Project(s): HeartLander

Text Reference

Brina Goyette, Brian Becker, Marco A. Zenati, and Cameron Riviere, "Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot," Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2010, pp. 2275-2278.

BibTeX Reference

@inproceedings{Goyette_2010_6698,
   author = "Brina Goyette and Brian Becker and Marco A Zenati and Cameron Riviere",
   title = "Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot",
   booktitle = "Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "2275-2278",
   month = "September",
   year = "2010",
}

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