Technical Papers

• Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device
  T. Ota, N. Patronik, C. Riviere, and M.A. Zenati
  Innovations, Vol. 1, No. 5, October, 2006, pp. 227-231. [Abstract]
  Download: pdf [660 KB] copyrighted

• Improved Traction for a Mobile Robot Traveling on the Heart
  N. Patronik, T. Ota, M.A. Zenati, and C. Riviere
  28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2006, pp. 339 - 342. [Abstract]
  Download: pdf [272 KB] copyrighted

• Enhancing the Locomotion of an In Vivo Robot for Cardiac Surgery
  F. Razjouyan, N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 97 - 98. [Abstract]
  Download: pdf [240 KB] copyrighted

• A Miniature Robot Cable-Driven for Crawling on the Heart
  N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), September, 2005. [Abstract]
  Download: pdf [330 KB] copyrighted

• Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart
  N. Patronik, M.A. Zenati, and C. Riviere
  Computer Aided Surgery, Vol. 10, No. 4, July, 2005, pp. 225 - 232. [Abstract]
  Download: pdf [663 KB] copyrighted

• The HeartLander: A Novel Epicardial Crawling Robot for Myocardial Injections
  N. Patronik, C. Riviere, S. El Qarra, and M.A. Zenati
  Proceedings of the 19th International Congress of Computer Assisted Radiology and Surgery, Elsevier, Vol. 1281C, June, 2005, pp. 735-739. [Abstract]
  Download: pdf [242 KB] copyrighted

• Development and Preliminary Testing of a Mobile Robot for Cardiac Intervention
  N. Patronik
  Master's Thesis, Tech. Report CMU-RI-TR-05-08, Robotics Institute, Carnegie Mellon University, February, 2005. [Abstract]
  Download: pdf [651 KB] copyrighted

• Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions
  N. Patronik, M.A. Zenati, and C. Riviere
  Proceedings of the 7th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Springer, Vol. LNCS 3117, September, 2004, pp. 9 - 16. [Abstract]
  Download: pdf [196 KB] copyrighted

• A Prototype Epicardial Crawling Device for Intrapericardial Intervention on the Beating Heart
  C. Riviere, N. Patronik, and M.A. Zenati
  The Heart Surgery Forum, Forum Multimedia Publishing, LLC, Vol. 7, No. 6, July, 2004, pp. E639 - E643. [Abstract]
  Download: pdf [299 KB] copyrighted

• Development of a Tethered Epicardial Crawler for Minimally Invasive Cardiac Therapies
  N. Patronik, M.A. Zenati, and C. Riviere
  IEEE 30th Annual Northeast Bioengineering Conference, IEEE, April, 2004, pp. 239-240. [Abstract]
  Download: pdf [246 KB] copyrighted

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