TY - GEN
T1 - Investigation of bioinspired gecko fibers to improve adhesion of HeartLander surgical robot
AU - Tortora, Giuseppe
AU - Glass, Paul
AU - Wood, Nathan
AU - Aksak, Burak
AU - Menciassi, Arianna
AU - Sitti, Metin
AU - Riviere, Cameron
PY - 2012
Y1 - 2012
N2 - HeartLander is a medical robot proposed for minimally invasive epicardial intervention on the beating heart. To date, all prototypes have used suction to gain traction on the epicardium. Gecko-foot-inspired micro-fibers have been proposed for repeatable adhesion to surfaces. In this paper, a method for improving the traction of HeartLander on biological tissue is presented. The method involves integration of gecko-inspired fibrillar adhesives on the inner surfaces of the suction chambers of HeartLander. Experiments have been carried out on muscle tissue ex vivo assessing the traction performance of the modified HeartLander with bio-inspired adhesive. The adhesive fibers are found to improve traction on muscle tissue by 57.3 %.
AB - HeartLander is a medical robot proposed for minimally invasive epicardial intervention on the beating heart. To date, all prototypes have used suction to gain traction on the epicardium. Gecko-foot-inspired micro-fibers have been proposed for repeatable adhesion to surfaces. In this paper, a method for improving the traction of HeartLander on biological tissue is presented. The method involves integration of gecko-inspired fibrillar adhesives on the inner surfaces of the suction chambers of HeartLander. Experiments have been carried out on muscle tissue ex vivo assessing the traction performance of the modified HeartLander with bio-inspired adhesive. The adhesive fibers are found to improve traction on muscle tissue by 57.3 %.
UR - http://www.scopus.com/inward/record.url?scp=84881039168&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2012.6346079
DO - 10.1109/EMBC.2012.6346079
M3 - Conference contribution
C2 - 23366040
AN - SCOPUS:84881039168
SN - 9781424441198
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 908
EP - 911
BT - 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
T2 - 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012
Y2 - 28 August 2012 through 1 September 2012
ER -