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Published on: April 21, 2013
A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart
Nicholas A Patronik1, Takeyoshi Ota, Marco A Zenati
1N. A. Patronik was with the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA. He is now with St. Jude Medical, St. Paul, MN 55117 USA.
IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|February 25, 2010
Summary
HeartLander, a miniature mobile robot, offers precise, stable access for cardiac surgery on beating hearts. This robotic system demonstrates feasibility for minimally invasive therapies requiring accurate navigation to multiple cardiac targets.
Area of Science:
- Minimally Invasive Surgery
- Medical Robotics
- Cardiac Surgery
Background:
- Conventional endoscopy has limitations for cardiac surgery.
- Robotic assistance can enhance endoscopic procedures.
- Existing robotic systems face challenges in cardiac applications.
Purpose of the Study:
- To introduce HeartLander, a novel miniature mobile robot for cardiac surgery.
- To evaluate HeartLander's ability to provide precise and stable access to the beating heart.
- To demonstrate the feasibility of semiautonomous navigation and therapy delivery on the cardiac surface.
Main Methods:
- HeartLander robot adheres to and navigates the heart surface in a semiautonomous manner.
- Target acquisition strategy involves region navigation followed by fine positioning.
- Preclinical studies conducted in closed-chest, beating-heart animal models.
Main Results:
- Demonstrated navigation to targets around the heart circumference.
- Achieved accurate target pattern acquisition on anterior and posterior surfaces (average error: 1.7 mm).
- Minimal average drift during station-keeping (0.7 mm).
Conclusions:
- HeartLander shows feasibility for precise, semiautonomous therapy delivery to the beating heart surface.
- The robot addresses limitations of current robotic endoscopic systems in cardiac surgery.
- Preclinical results support HeartLander's potential for less-invasive cardiac interventions.
Related Concept Videos
01:13Location and Orientation of the Heart
The human heart, despite its modest size and weight, is an organ of remarkable strength and endurance. Roughly the size of a fist, the heart weighs between 250 and 350 grams and is nestled within the mediastinum, the medial cavity of the thorax. It extends obliquely for about 12 to 14 cm, resting on the superior surface of the diaphragm. The heart is positioned anterior to the vertebral column and posterior to the sternum, with two-thirds of its mass lying to the left of the midsternal line.
01:07Overview of the Heart
The heart, a muscular organ located in the chest, functions as the body's pump, circulating blood through the vascular system. It has four chambers: two atria on top and two ventricles below. The right atrium receives deoxygenated blood from the body and passes it to the right ventricle, which pumps it to the lungs for oxygenation. The left atrium receives oxygenated blood from the lungs and transfers it to the left ventricle, which pumps it to the rest of the body.
The heart's structure...
The heart's structure...
01:20Anatomy of the Heart
The heart is a hollow, muscular organ approximately the size of a fist, consisting of four chambers. It is enclosed in the pericardium, a fibrous sac with two layers: the visceral and parietal pericardium, separated by a fluid-filled space containing serous fluid to reduce friction.
The heart has three layers: the innermost endocardium, the muscular myocardium, and the outer epicardium, all working together for optimal cardiac function.
Chambers of the Heart
The heart is made up of four...
The heart has three layers: the innermost endocardium, the muscular myocardium, and the outer epicardium, all working together for optimal cardiac function.
Chambers of the Heart
The heart is made up of four...
01:27Anatomy of the Heart
The human heart is made up of three layers of tissue that are surrounded by the pericardium, a membrane that protects and confines the heart. The outermost layer, closest to the pericardium, is the epicardium. The pericardial cavity separates the pericardium from the epicardium. Beneath the epicardium is the myocardium, the middle layer, and the endocardium, the innermost layer. There are four chambers of the heart: the right atrium, the right ventricle, the left atrium, and the left ventricle.
01:27Development of the Heart
The development of the human heart, a crucial organ, commences from the mesoderm on the 18th or 19th day after fertilization. This process initiates in the cardiogenic area, a group of mesodermal cells at the embryo's head end, which evolves into elongated strands known as cardiogenic cords. These cords undergo a transformation to form hollow-centered endocardial tubes.
As the embryo undergoes lateral folding, these paired tubes approach each other, merging into a single primitive heart tube by...
As the embryo undergoes lateral folding, these paired tubes approach each other, merging into a single primitive heart tube by...
01:30Equipments Used To Measure Blood Pressure
Direct Method
This invasive approach involves cannulating a peripheral artery. During each cardiac contraction, pressure generates mechanical motion within the catheter, transmitted through rigid, fluid-filled tubing to a transducer. This transducer converts mechanical motion into electrical signals displayed as waveforms on a monitor. An automatic flushing system prevents blood backflow. Due to the potential risk of unexpected arterial blood loss, this method is primarily used in intensive...
This invasive approach involves cannulating a peripheral artery. During each cardiac contraction, pressure generates mechanical motion within the catheter, transmitted through rigid, fluid-filled tubing to a transducer. This transducer converts mechanical motion into electrical signals displayed as waveforms on a monitor. An automatic flushing system prevents blood backflow. Due to the potential risk of unexpected arterial blood loss, this method is primarily used in intensive...