Nicholas A. Patronik

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This document describes the effects of several design parameters on the traction generated by the suction pads of a mobile robot that walks on the surface of the heart. HeartLander is a miniature mobile robot that adheres to the epicardial surface of the heart using suction, and can travel to any desired location on the heart to administer therapeutic(More)
This article describes the development and preliminary testing of a mobile robotic device to facilitate minimally invasive beating-heart intrapericardial intervention. The HeartLander robot will be introduced beneath the pericardium via subxiphoid incision, adhere to the epicardium, navigate to any location, and administer therapy under the control of the(More)
We compared the mediolateral (M/L) responses to perturbations during locomotion of vestibulopathic (VP) subjects to those of controls. Eight subjects with unilateral vestibular loss (100% Reduced Vestibular Response from the caloric test) resulting from surgery for vestibular schwannoma and 11 controls were selected for this study. Despite their known(More)
This paper describes the development and preliminary testing of a robotic device to facilitate minimally invasive beating-heart intrapericardial interventions. We propose the concept of a subxiphoid-inserted mobile robot (HeartLander) with the ability to adhere to the epicardium, navigate to any location , and administer therapy under physician control. As(More)
Robotic assistance enhances conventional endoscopy; yet, limitations have hindered its mainstream adoption for cardiac surgery. HeartLander is a miniature mobile robot that addresses several of these limitations by providing precise and stable access over the surface of the beating heart in a less-invasive manner. The robot adheres to the heart and(More)
The development and preliminary testing of a device for facilitating minimally invasive beating-heart intrapericardial interventions are described. We propose the concept of an endoscopic robotic device that adheres to the epicardium by suction and navigates by crawling like an inchworm to any position on the surface under the control of a surgeon. This(More)
BACKGROUND : To expand minimally invasive beating-heart surgery, we have developed a miniature 2-footed crawling robot (HeartLander) that navigates on the epicardium. This paradigm obviates mechanical stabilization and lung deflation, and avoids the access limitations of current approaches. We tested the locomotion of the device on a beating porcine heart(More)
BACKGROUND We have developed a novel miniature robotic device (HeartLander) that can navigate on the surface of the beating heart through a subxiphoid approach. This study investigates the ability of HeartLander to perform in vivo semiautonomous epicardial injections on the beating heart. METHODS AND RESULTS The inchworm-like locomotion of HeartLander is(More)
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(More)
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