Title:
ROBOT FOR MINIMALLY INVASIVE INTERVENTIONS
Document Type and Number:
WIPO Patent Application WO2005046461
Kind Code:
B1
Abstract:
Rather than trying to immobilize a living, moving organ to place the organ in the fixed frame of reference of a table-mounted robotic device, the present disclosure teaches mounting a robot in the moving frame of reference of the organ. That task can be accomplished with a wide variety of robots including a miniature crawling robotic device (10) designed to be introduced, in the case of the heart, into the pericardium through a port, attach itself to the epicardial surface, and then, under the direct control of the surgeon, travel to the desired location for treatment. The problem of beating-heart motion is largely avoided by attaching the device directly to the epicardium. The problem of access is resolved by incorporating the capability for locomotion. The device and technique can be used on other organs and on other living bodies such as pets, farm animals, etc.
Inventors:
RIVIERE CAMERON N
PATRONIK NICHOLAS A
ZENATI MARCO A
STETTEN GEORGE D
PATRONIK NICHOLAS A
ZENATI MARCO A
STETTEN GEORGE D
Application Number:
PCT/US2004/036910
Publication Date:
July 28, 2005
Filing Date:
November 05, 2004
Export Citation:
Assignee:
UNIV CARNEGIE MELLON (US)
International Classes:
A61B1/005; A61B17/04; A61B19/00; A61M25/01; A61B17/00; A61B17/06; (IPC1-7): A61B1/005; A61M25/01; A61B19/00
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