Reducing operating time of a crawling robot for epicardial surgery

Brina Goyette and Cameron Riviere
Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference, March, 2010.


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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",
}