Epicardial Crawling Robot for Beating Heart Stabilization
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Solution Overview
Problem
Current minimally invasive cardiac surgery techniques face challenges in stabilizing the beating heart, requiring expensive equipment and causing hemodynamic impairment due to the need for cardiopulmonary bypass and rigid endoscopic tools, which limit access and precision.
Innovation Solution
A miniature crawling robotic device is mounted on the epicardium, allowing it to move independently and stabilize itself, eliminating the need for external stabilization and enabling precise manipulation without cardiopulmonary bypass, using suction pads and nitinol wires for locomotion and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If endoscopic stabilizers (Endostab, endo-Octopus) are used to immobilize the heart, then the heart can be stabilized for surgery, but hemodynamic impairment occurs due to forces exerted on the myocardium
Solution Approach 1:
The robotic device attaches itself to the epicardium and uses its own locomotion capability to move to the treatment site, eliminating the need for external stabilizers. The device serves itself by providing both mobility and stabilization functions through its autonomous attachment and movement mechanism.
Solution Approach 2:
Instead of stabilizing the heart in a fixed frame of reference (traditional approach), the device inverts the approach by mounting itself on the moving epicardial surface and operating in the heart's moving reference frame. This eliminates the need for forceful immobilization while maintaining relative stability for precise manipulation.
2Measurement precision
If active compensation of heartbeat motion is implemented by tracking the epicardium, then manipulation precision can be maintained, but high expense is required for high-bandwidth actuation systems
Solution Approach 1:
The device eliminates the need for complex external actuation systems by attaching directly to the epicardium and moving with the heart's motion. The device's position automatically compensates for heart movement without requiring active tracking or high-bandwidth control systems.
Solution Approach 2:
The invention extracts the stabilization function from the external robotic system and integrates it into the device itself by mounting it on the epicardium. This removes the need for complex motion compensation algorithms and high-speed actuation systems.
3Manufacturing precision
If rigid endoscopic tools are used for minimally invasive surgery, then surgical precision can be achieved, but access is limited and expensive equipment is required
Solution Approach 1:
The device transitions from a static, fixed-position tool to a dynamic system that can autonomously move across the epicardial surface. This mobility provides versatile access to any treatment site while maintaining precision through direct attachment and controlled locomotion.
Solution Approach 2:
The robotic device combines multiple functions in a single platform: locomotion across the epicardium, attachment/detachment capability, and precise manipulation at the treatment site. This multi-functionality replaces multiple specialized tools with one versatile system.
4Stability of the object's composition
If cardiopulmonary bypass is used to stabilize the heart, then surgical conditions can be optimized, but the procedure becomes more complex and invasive
Solution Approach 1:
The device provides its own stabilization by attaching to the epicardium and moving with the heart's natural motion. This eliminates the need for cardiopulmonary bypass or other complex stabilization procedures, allowing surgery on the beating heart.
Solution Approach 2:
Instead of trying to stop or control the heart's beating (which requires complex procedures), the device accepts the heart's motion as beneficial, using it to carry the device to the treatment site and maintain natural physiological conditions throughout the procedure.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for minimally invasive cardiac surgery without deflating the lung, reducing anesthesia needs, and enabling ambulatory procedures by providing stable access and precise manipulation on the epicardium, potentially making cardiac surgery more accessible and cost-effective.
Implementation Method 1
using suction pads and nitinol wires for locomotion and control
Implementation Method 2
using suction pads and nitinol wires for locomotion and control
Data Source
AI summary
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 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. Because of the rules governing abstracts, this abstract should not be used in construing the claims.