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
|
|
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
|
|
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
|
|
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
|
|
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
|
|
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
|
|
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
|
|
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)
|
|
Continue to PEOPLE
Return to TOP
|
