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HeartLander, a small mobile robot designed to provide treatments to the surface of the beating heart, overcomes a major difficulty of minimally invasive cardiac surgery, providing a stable operating platform. This is achieved inherently in the way the robot adheres to and crawls over the surface of the heart. This mode of operation does not require physiological motion compensation to provide this...
HeartLander, a small mobile robot designed to provide treatments to the surface of the beating heart, overcomes a major difficulty of minimally invasive cardiac surgery, providing a stable operating platform. This is achieved inherently in the way the robot adheres to and crawls over the surface of the heart. This mode of operation does not require physiological motion compensation to provide this...
The variation of intrapericardial pressure due to the respiration and cardiac cycles greatly affects the locomotion efficiency of HeartLander, a minimally invasive surgical robot which adheres to and moves over the surface of the heart. This paper presents work which would allow HeartLander to improve motion efficiency by synchronizing its movement with the physiological cycles using a magnetic tracker...
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