The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

HeartLander is a small, mobile robot designed to assist with surgical procedures on the surface of the heart. It crawls within the pericardial sac surrounding the heart. The friction forces HeartLander experiences from the pericardium and the heartbeat reduce locomotion efficiency. We have developed an algorithm that creates a plan for reaching a set of treatment targets, while minimizing the time spent in locomotion. Results from simulation show improvement over a simple greedy technique.

Keywords

cardiology , medical robotics , surgery

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

Number of pages: 2

Text Reference

Brina Goyette and Cameron Riviere, "Reducing operating time of a crawling robot for epicardial surgery," Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference, March, 2010.

BibTeX Reference

@inproceedings{Goyette_2010_6711,
   author = "Brina Goyette and Cameron Riviere",
   title = "Reducing operating time of a crawling robot for epicardial surgery",
   booktitle = "Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference",
   month = "March",
   year = "2010",
}

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