Cameron N. Riviere,Nicholas A. Patronik,Marco A. Zenati,George D. Stetten
申请号：
US13424732
公开号：
US20120271318A1
申请日:
2012.03.20
申请国别(地区):
US
年份:
2012
代理人:
摘要：
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. A miniature crawling robotic device can 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 device can be used for other organs and animals.
