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
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;
Conference_Titel :
Bioengineering Conference, 2006. Proceedings of the IEEE 32nd Annual Northeast
Print_ISBN :
0-7803-9563-8
DOI :
10.1109/NEBC.2006.1629770
