Graphics enhanced version of this site

A Miniature Cable-Driven Robot for Crawling on the Heart
N. Patronik, M.A. Zenati, and C. Riviere
Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005, pp. 5771 - 5774.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [330 KB]

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.

This document describes the design and preliminary testing of a cable-driven robot for the purpose of traveling on the surface of the beating heart to administer therapy. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive cardiac surgery. Previous versions of the robot have been remotely actuated through push-pull wires, while visual feedback was provided by fiber optic transmission. Although these early models were able to perform locomotion in vivo on porcine hearts, the stiffness of the wire-driven transmission and fiber optic camera limited the mobility of the robots. The new prototype described in this document is actuated by two antagonistic cable pairs, and has a color CCD camera located in the front section of the device. These modifications have resulted in superior mobility and visual feedback. The cable-driven prototype has successfully demonstrated prehension, locomotion, and tissue dye injection during in vitro testing with a poultry model.

Associated center: MRTC
Associated lab/group: Medical Instrumentation Lab
Associated project: HeartLander

Number of pages: 4

N. Patronik, M.A. Zenati, and C. Riviere, "A Miniature Cable-Driven Robot for Crawling on the Heart," Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005, pp. 5771 - 5774.

@inproceedings{Patronik_2005_5054,
   author = "Nicholas Patronik and Marco A Zenati and Cameron Riviere",
   title = "A Miniature Cable-Driven Robot for Crawling on the Heart",
   booktitle = "Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)",
   month = "September",
   year = "2005",
   pages = "5771 - 5774"
}