ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2026
Development of a Flexible Parallel Wire Robot for Epicardial Interventions.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
1 citing paper in PubMed.
- Development of a Flexible Parallel Wire Robot for Epicardial Interventions.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
5 authors.
Funding
Abstract
backgroundHeartPrinter is a flexible parallel wire robot that adheres to the beating heart with vacuum suction at three bases. An injector head actuated by cables delivers gene therapy injections within the bounds of the bases. To deploy onto the epicardium, an introducer mechanism is required. On the heart, the robot's workspace and anatomical model registration to its pose are needed.
methodsWe present HeartPrinter's components and introducer mechanism, and assess them on an artificial beating heart. We evaluate accuracy for position determination of the bases and registering a three-dimensional heart scan.
resultsThe introducer mechanism successfully positioned HeartPrinter, and the bases adhered to the beating heart. The base positions and registration were calculated accurately with errors under 4 and 2 mm.
conclusionsThe introducer mechanism can deploy HeartPrinter on the epicardium, and HeartPrinter's components can operate on the heart. Workspace determination and registration demonstrate feasibility as preliminary concepts.
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Registered trials
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