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Today in Cardiology


Bench Testing


Locomotion on desktop     play  [3.1MB]
  • current prototype with clear body sections shown
  • computer-controlled wire actuation and valve switching
  • video is in real time;   speed = 5.3 mm/s
desktop walk
Locomotion on plastic heart model    play   [2.1MB]
  • current prototype with clear body sections shown
  • pneumatic contractions and synthetic pericardium simulate realistic anatomical constraints
  • video is in real time;   speed = 10 mm/s
plastic heart walk
Locomotion on latex balloon    play   [4.6MB]
  • first prototype (black) was 3X larger than current prototype
  • control system detects absence of suction seal and automatically curves downward
  • video has been sped up 2X
balloon walk

In Vivo Testing: Beating Pig Heart


Locomotion to target     play  [11.7MB]
  • user interface showing target selection and acquisition on the anterior surface
  • heart beat and respiration motions have been filtered out
  • video is in real time
gui
Locomotion with chest closed     play  [4.1MB]
  • locomotion beneath the percardium on anterior surface
  • view from camera outside the pericardium
  • video is in real time
closed chest 1
Locomotion with chest closed     play  [3.7MB]
  • locomotion beneath the percardium on anterior surface
  • view from camera beneath the pericardium
  • video is in real time
closed chest 2
Dye injection with chest closed     play  [3.0MB]
  • dye injection beneath the percardium with chest closed
  • view from camera beneath the pericardium
  • video is in real time
pig 6 locomotion
Filtered tracker data during locomotion     play  [6.5MB]
  • locomotion step beneath the percardium with chest closed
  • the front body of the robot is tracked with the magnetic position sensor and displayed in the GUI (robot - black, path - green)
locomotion tracking

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