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A study ex vivo of the effect of epicardial fat on the HeartLander robotic crawler
Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
5th European IFMBE Conference, IFMBE Proceedings 37, September, 2011, pp. 227-230.
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pdf (345KB) | Copyrighted
Fourier modeling of porcine heartbeat and respiration in vivo for synchronization of HeartLander robot locomotion
Nathan Wood, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2011, pp. 7041-7044.
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pdf (1MB) | Copyrighted
Improved synchronization of HeartLander locomotion with physiological cycles
Diego Moral del Agua, Nathan Wood, and Cameron Riviere
Proc. 37th Annual IEEE Northeast Bioengineering Conference, April, 2011.
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pdf (240KB) | Copyrighted
Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot
Brina Goyette, Brian Becker, Marco A. Zenati, and Cameron Riviere
Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2010, pp. 2275-2278.
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pdf (497KB) | Copyrighted
Application of the HeartLander crawling robot for injection of a
thermally sensitive anti-remodeling agent for myocardial infarction therapy
Michael P. Chapman, Jose L. Lopez Gonzalez, Brina Goyette, Kazuro L. Fujimoto, Zuwei Ma, William R. Wagner, Marco A. Zenati, and Cameron Riviere
Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2010, pp. 5428-5431.
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pdf (1MB) | Copyrighted
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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pdf (251KB) | Copyrighted
A miniature mobile robot for navigation and positioning on the beating heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati, and Cameron Riviere
IEEE Transactions on Robotics, Vol. 25, No. 5, October, 2009, pp. 1109-1124.
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pdf (1MB) | Copyrighted
Minimally invasive epicardial injections using a novel semiautonomous robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere, and Marco A. Zenati
Circulation, Vol. 118, No. suppl 1, September, 2008, pp. S115-S120.
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pdf (668KB) | Copyrighted
A Miniature Mobile Robot for Precise and Stable Access to the Beating Heart
Nicholas Patronik
doctoral dissertation, tech. report CMU-RI-TR-08-13, Robotics Institute, Carnegie Mellon University, May, 2008
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pdf (6MB) | Copyrighted
A Mobile Robot Driven by Miniature Onboard Motors for Cardiac Intervention
Peter David Allen, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
Proceedings of the 34th Annual Northeast Bioengineering Conference, April, 2008, pp. 9 - 10.
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pdf (120KB) | Copyrighted
Accurate positioning for intervention on the beating heart using a
crawling robot
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati, and Cameron Riviere
Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), October, 2008, pp. 250-257.
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pdf (1MB) | Copyrighted
Subxiphoid epicardial pacing lead implantation using a miniature crawling robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere, and Marco A. Zenati
Journal of Surgical Research, Vol. 137, No. 2, February, 2007, pp. 242-243.
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Improved Traction for a Mobile Robot Traveling on the Heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati, and Cameron Riviere
28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2006, pp. 339 - 342.
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pdf (273KB) | Copyrighted
Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
F. Razjouyan, Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 97 - 98.
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pdf (240KB) | Copyrighted
Percutaneous Subxiphoid Access to the Epicardium Using a
Miniature Crawling Robotic Device
Takeyoshi Ota, Nicholas Patronik, Cameron Riviere, and Marco A. Zenati
Innovations, Vol. 1, No. 5, October, 2006, pp. 227-231.
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pdf (661KB) | Copyrighted
A Miniature Cable-Driven Robot for Crawling on the Heart
Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005, pp. 5771 - 5774.
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pdf (331KB) | Copyrighted
Preliminary Evaluation of a Mobile Robotic Device for
Navigation and Intervention on the Beating Heart
Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
Computer Aided Surgery, Vol. 10, No. 4, July, 2005, pp. 225 - 232.
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pdf (663KB) | Copyrighted
The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections
Nicholas Patronik, Cameron Riviere, Suad El Qarra, and Marco A. Zenati
Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, June, 2005, pp. 735-739.
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pdf (243KB) | Copyrighted
Development and Preliminary Testing of a Mobile Robot for Cardiac Intervention
Nicholas Patronik
master's thesis, tech. report CMU-RI-TR-05-08, Robotics Institute, Carnegie Mellon University, February, 2005
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pdf (651KB) | Copyrighted
Crawling on the Heart: A Mobile Robotic Device for
Minimally Invasive Cardiac Interventions
Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), September, 2004, pp. 9 - 16.
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pdf (196KB) | Copyrighted
A Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating heart
Cameron Riviere, Nicholas Patronik, and Marco A. Zenati
The Heart Surgery Forum, July, 2004, pp. E639 - E643.
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pdf (300KB) | Copyrighted
Development of a Tethered Epicardial
Crawler for Minimally Invasive Cardiac Therapies
Nicholas Patronik, Marco A. Zenati, and Cameron Riviere
IEEE 30th Annual Northeast Bioengineering Conference, April, 2004, pp. 239-240.
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pdf (247KB) | Copyrighted
Microelectromechanical systems for endoscopic cardiac surgery
Gianluca Bonanomi, Keith Rebello, Kyle Lebouitz, Cameron Riviere, Elena di Martino, David Vorp, and Marco A. Zenati
Journal of Thoracic and Cardiovascular Surgery, Vol. 126, No. 3, March, 2003, pp. 851-852.
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pdf (131KB) | Copyrighted
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