
Contact: Cameron Riviere
Associated Lab: Surgical Mechatronics Laboratory
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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.
Nathan Wood
PhD Thesis, Tech. Report, CMU-RI-TR-15-30, Robotics Institute, Carnegie Mellon University, January, 2016
Nicholas Patronik, Marco A. Zenati and Cameron Riviere
Conference Paper, 5th European IFMBE Conference, IFMBE Proceedings 37, pp. 227-230, September, 2011
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
Diego Moral del Agua, Nathan Wood and Cameron Riviere
Conference Paper, Proc. 37th Annual IEEE Northeast Bioengineering Conference, April, 2011
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
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
Brina Goyette and Cameron Riviere
Conference Paper, Proceedings of the 36th Annual IEEE Northeast Bioengineering Conference, March, 2010
Nicholas Patronik, Takeyoshi Ota, Marco A. Zenati and Cameron Riviere
Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 25, No. 5, pp. 1109-1124, October, 2009
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
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati
Journal Article, Carnegie Mellon University, Circulation, Vol. 118, No. suppl 1, pp. S115-S120, September, 2008
Nicholas Patronik
PhD Thesis, Tech. Report, CMU-RI-TR-08-13, Robotics Institute, Carnegie Mellon University, May, 2008
Peter David Allen, Nicholas Patronik, Marco A. Zenati and Cameron Riviere
Conference Paper, Proceedings of the 34th Annual Northeast Bioengineering Conference, April, 2008
Takeyoshi Ota, Nicholas Patronik, David Schwartzman, Cameron Riviere and Marco A. Zenati
Journal Article, Carnegie Mellon University, Journal of Surgical Research, Vol. 137, No. 2, pp. 242-243, February, 2007
Takeyoshi Ota, Nicholas Patronik, Cameron Riviere and Marco A. Zenati
Journal Article, Carnegie Mellon University, Innovations, Vol. 1, No. 5, pp. 227-231, October, 2006
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
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
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
Nicholas Patronik, Marco A. Zenati and Cameron Riviere
Journal Article, Carnegie Mellon University, Computer Aided Surgery, Vol. 10, No. 4, pp. 225 - 232, July, 2005
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
Nicholas Patronik
Master's Thesis, Tech. Report, CMU-RI-TR-05-08, Robotics Institute, Carnegie Mellon University, February, 2005
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
Cameron Riviere, Nicholas Patronik and Marco A. Zenati
Conference Paper, The Heart Surgery Forum, Vol. 7, No. 6, July, 2004
Nicholas Patronik, Marco A. Zenati and Cameron Riviere
Conference Paper, IEEE 30th Annual Northeast Bioengineering Conference, pp. 239-240, April, 2004
Gianluca Bonanomi, Keith Rebello, Kyle Lebouitz, Cameron Riviere, Elena di Martino, David Vorp and Marco A. Zenati
Journal Article, Carnegie Mellon University, Journal of Thoracic and Cardiovascular Surgery, Vol. 126, No. 3, pp. 851-852, March, 2003
Past Project People
- Marco A Zenati
- Kevin Fok
- Nathan Wood
- Nicholas Patronik
- Diego Moral del Agua