ICRA 2011 Paper Abstract


Paper TuA113.5

Butler, Evan (Children's Hospital Boston), Folk, Chris (Microfabrica, Inc.), Cohen, Adam (Microfabrica, Inc.), Vasilyev, Nikolay (Children's Hospital Boston and Harvard Medical School), Chen, Rich (Microfabrica, Inc.), del Nido, Pedro (Children's Hospital Boston and Harvard Medical School), Dupont, Pierre (Children's Hospital Boston, Harvard Medical School)

Metal MEMS Tools for Beating-Heart Tissue Approximation

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems I" (TuA113), Tuesday, May 10, 2011, 09:20−09:35, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Medical Robots and Systems


Achieving superior outcomes through the use of robots in medical applications requires an integrated approach to the design of the robot, tooling and the procedure itself. In this paper, this approach is applied to develop a robotic technique for closing abnormal communication between the atria of the heart. The goal is to achieve the efficacy of surgical closure as performed on a stopped, open heart with the reduced risk and trauma of a beating-heart catheter-based procedure. In the proposed approach, a concentric tube robot is used to percutaneously access the right atrium and deploy a tissue approximation device. The device is constructed using a metal MEMS fabrication process and is designed to both fit the manipulation capabilities of the robot as well as to reproduce the beneficial features of surgical closure by suture. Experimental results demonstrate device efficacy through manual in-vivo deployment and bench-top robotic deployment.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-04-02  11:49:35 PST  Terms of use