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HeartLander
Head: Cameron Riviere
Contact: Cameron Riviere
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Medical Robotics Technology Center (MRTC)
Associated lab(s) / group(s):
 Surgical Mechatronics Laboratory
Project Homepage
This page last updated - September 2011.
Publications
  • Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion

    Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati, and Cameron Riviere
    International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 8, No. 1, March, 2012, pp. 97-106.
    Details | pdf (594KB) | Copyrighted

  • 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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
    Details | 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.
    Details | 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.
    Details | 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.
    Details

  • 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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
    Details | 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.
    Details | 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.
    Details | 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.
    Details | 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.
    Details | pdf (131KB) | Copyrighted