/HeartLander

HeartLander

Portrait of HeartLander
Head: Cameron Riviere
Contact: Cameron Riviere
Associated Lab: Surgical Mechatronics Laboratory
Homepage
Last Project Publication Year: 2016

HeartLander is a miniature mobile robot designed to facilitate minimally invasive therapy to the surface of the beating heart. Under physician control, the robot:

  • enters the chest through an incision below the sternum,
  • adheres to the epicardial surface of the heart,
  • autonomously navigates to the specified location, and
  • administers the therapy.

As compared to robotics currently used in cardiac surgery, this novel paradigm offers several advantages by obviating cardiac stabilization, lung deflation, and access limitations. The result is a device that improves the precision and stability of interaction with the surface of the beating heart, while decreasing the morbidity associated with access.

The current tethered design uses suction to maintain prehension of the epicardial surface, and drive-wire actuation to provide locomotion. The physician controls the robot with a joystick interface while viewing a graphical representation of the robot on the heart that is generated using an onboard magnetic tracking sensor. The control system also uses these tracking data to provide autonomous navigation to the specified target. After the target has been acquired, the physician administers the therapy through the working channel of the robot.

HeartLander has been evaluated through a series of studies on a closed-chest beating porcine model with the pericardium intact. The results demonstrated its ability to traverse the entire surface of the ventricles, to autonomously acquire target patterns with high accuracy, and to maintain stability. Additionally, preclinical feasibility studies have demonstrated myocardial injection of dye, epicardial lead placement, and epicardial ventricular ablation from HeartLander.

Displaying 24 Publications
Organ-Mounted Robots for Minimally Invasive Beating-Heart Surgery
Nathan Wood

PhD Thesis, Tech. Report, CMU-RI-TR-15-30, Robotics Institute, Carnegie Mellon University, January, 2016
A study ex vivo of the effect of epicardial fat on the HeartLander robotic crawler
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, 5th European IFMBE Conference, IFMBE Proceedings 37, pp. 227-230, September, 2011
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

Conference Paper, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 7041-7044, August, 2011
Improved synchronization of HeartLander locomotion with physiological cycles
Diego Moral del Agua, Nathan Wood and Cameron Riviere

Conference Paper, Proc. 37th Annual IEEE Northeast Bioengineering Conference, April, 2011
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

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5428-5431, September, 2010
Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot
Brina Goyette, Brian Becker, Marco A. Zenati and Cameron Riviere

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 2275-2278, September, 2010
Reducing operating time of a crawling robot for epicardial surgery
Brina Goyette and Cameron Riviere

Conference Paper, Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference, March, 2010
A miniature mobile robot for navigation and positioning on the beating heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Journal Article, IEEE Transactions on Robotics, Vol. 25, No. 5, pp. 1109-1124, October, 2009
Accurate positioning for intervention on the beating heart using a crawling robot
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 250-257, October, 2008
Minimally invasive epicardial injections using a novel semiautonomous robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati

Journal Article, Circulation, Vol. 118, No. 1, pp. S115-S120, September, 2008
A Miniature Mobile Robot for Precise and Stable Access to the Beating Heart
Nicholas Patronik

PhD Thesis, Tech. Report, CMU-RI-TR-08-13, Robotics Institute, Carnegie Mellon University, May, 2008
A Mobile Robot Driven by Miniature Onboard Motors for Cardiac Intervention
Peter David Allen, Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 34th Annual Northeast Bioengineering Conference, April, 2008
Subxiphoid epicardial pacing lead implantation using a miniature crawling robotic device
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati

Journal Article, Journal of Surgical Research, Vol. 137, No. 2, pp. 242-243, February, 2007
Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device
Takeyoshi Ota, Nicholas Patronik, Cameron Riviere and Marco A. Zenati

Journal Article, Innovations, Vol. 1, No. 5, pp. 227-231, October, 2006
Improved Traction for a Mobile Robot Traveling on the Heart
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere

Conference Paper, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 339 - 342, September, 2006
Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
F. Razjouyan, Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, pp. 97 - 98, April, 2006
A Miniature Cable-Driven Robot for Crawling on the Heart
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 5771 - 5774, September, 2005
Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Journal Article, Computer Aided Surgery, Vol. 10, No. 4, pp. 225 - 232, July, 2005
The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections
Nicholas Patronik, Cameron Riviere, Suad El Qarra and Marco A. Zenati

Conference Paper, Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, Vol. 1281C, pp. 735-739, June, 2005
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
Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Vol. LNCS 3117, September, 2004
A Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating heart
Cameron Riviere, Nicholas Patronik and Marco A. Zenati

Conference Paper, The Heart Surgery Forum, Vol. 7, No. 6, July, 2004
Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies
Nicholas Patronik, Marco A. Zenati and Cameron Riviere

Conference Paper, IEEE 30th Annual Northeast Bioengineering Conference, pp. 239-240, April, 2004
Microelectromechanical systems for endoscopic cardiac surgery
Gianluca Bonanomi, Keith Rebello, Kyle Lebouitz, Cameron Riviere, Elena di Martino, David Vorp and Marco A. Zenati

Journal Article, Journal of Thoracic and Cardiovascular Surgery, Vol. 126, No. 3, pp. 851-852, March, 2003

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2019-06-27T16:09:55-04:00