A miniature mobile robot for precise and stable access to the beating heart

摘要

For a wide array of procedures, cardiologists and cardiac surgeons currently compete with one another to provide minimally invasive therapy with the goal of decreasing associated morbidity while providing quality treatment. Although the thoracoscopic techniques used by cardiac surgeons greatly reduce morbidity compared to open surgery, the percutaneous transvenous approaches favored by cardiologists are less invasive and can be performed on an out-patient basis. In light of this convergence, it is reasonable to consider the development of hybrid instrumentation and techniques that address the goals of both cardiologists and cardiac surgeons. In this thesis, we propose that the development of a miniature mobile robot (HeartLander) that adheres to and traverses the epicardium will provide a tool for precise and stable interaction with the beating heart. The ability of the robot to adhere to the epicardium obviates the need for cardiopulmonary bypass or mechanical stabilization, while the mobility overcomes access limitations that currently limit thoracoscopic techniques. Additionally, the ability of HeartLander to be deployed to the apex of the heart through a percutaneous subxiphoid approach may enable cardiac surgeons to provide out-patient procedures. To demonstrate the utility of HeartLander, we focus on a subset three intrapericardial therapies