The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The injection of a mechanical bulking agent into the left ventricular (LV) wall of the heart has shown promise as a therapy for maladaptive remodeling of the myocardium after myocardial infarct (MI). The HeartLander robotic crawler presented itself as an ideal vehicle for minimally-invasive, highly accurate epicardial injection of such an agent. Use of the optimal bulking agent, a thermosetting hydrogel developed by our group, presents a number of engineering obstacles, including cooling of the miniaturized injection system while the robot is navigating in the warm environment of a living patient. We present herein a demonstration of an integrated miniature cooling and injection system in the HeartLander crawling robot, that is fully biocompatible and capable of multiple injections of a thermosetting hydrogel into dense animal tissue while the entire system is immersed in a 37°C water bath.

Keywords

surgery, medical robotics, heart, heart failure, 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

Michael P. Chapman, Jose L. Lopez Gonzalez, Brina Goyette, Kazuro L. Fujimoto, Zuwei Ma, William R. Wagner, Marco A. Zenati, and Cameron Riviere, "Application of the HeartLander crawling robot for injection of a thermally sensitive anti-remodeling agent for myocardial infarction therapy," Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2010, pp. 5428-5431.

BibTeX Reference

@inproceedings{Goyette_2010_6699,
   author = "Michael P. Chapman and Jose L. Lopez Gonzalez and Brina Goyette and Kazuro L. Fujimoto and Zuwei Ma and William R. Wagner and Marco A Zenati and Cameron Riviere",
   title = "Application of the HeartLander crawling robot for injection of a thermally sensitive anti-remodeling agent for myocardial infarction therapy",
   booktitle = "Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "5428-5431",
   month = "September",
   year = "2010",
}

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