ICRA 2012 Paper Abstract


Paper WeA03.1

Gosline, Andrew (Children's Hospital Boston, Harvard Medical School), Vasilyev, Nikolay (Children's Hospital Boston and Harvard Medical School), Veeramani, Arun (MicroFabrica Inc, Van Nuys, CA), Wu, MingTing (MicroFabrica Inc, Vany Nuys, CA), Schmitz, Greg (MicroFabrica Inc, Van Nuys, CA), Chen, Rich (Microfabrica, Inc.), Arabagi, Veaceslav (Childrens Hospital Boston), 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 Removal

Scheduled for presentation during the Regular Session "Medical Robotics I" (WeA03), Wednesday, May 16, 2012, 08:30−08:45, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Medical Robots and Systems


A novel robotic tool is proposed to enable the surgical removal of tissue from inside the beating heart. The tool is manufactured using a unique metal MEMS process that provides the means to fabricate fully assembled devices that incorporate micron-scale features in a millimeter scale tool. The tool is integrated with a steerable curved concentric tube robot that can enter the heart through the vasculature. Incorporating both irrigation and aspiration, the tissue removal system is capable of extracting substantial amounts of tissue under teleoperated control by first morselizing it and then transporting the debris out of the heart through the lumen of the robot. Tool design and robotic integration are described and ex vivo experimental results are presented.



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