DocumentCode
1910263
Title
Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
Author
Razjouyan, Faezeh ; Patronik, Nicholas A. ; Zenati, Marco A. ; Riviere, Cameron N.
Author_Institution
Department of Biomedical Engineering, The George Washington University, Washington, D.C
fYear
2006
fDate
01-02 April 2006
Firstpage
97
Lastpage
98
Abstract
This paper describes a technique to improve the locomotion of a miniature crawling robot, (Heart Lander) that uses suction to adhere to the surface of the beating heart. During locomotion, maintaining a vacuum seal with at least one of the suction pads is crucial. A new algorithm was developed to analyze data from pressure sensors monitoring the suction pads to accurately determine the suction status. HeartLander demonstrated successful locomotion on a realistic beating heart model when the algorithm was implemented.
Keywords
Biomedical engineering; Foot; Heart; In vivo; Legged locomotion; Lungs; Minimally invasive surgery; Robot kinematics; Seals; Wires;
fLanguage
English
Publisher
ieee
Conference_Titel
Bioengineering Conference, 2006. Proceedings of the IEEE 32nd Annual Northeast
Print_ISBN
0-7803-9563-8
Type
conf
DOI
10.1109/NEBC.2006.1629770
Filename
1629770
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