[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"detail-sidebar-cat-0-en-105":3,"doc-seo-444623-105":59,"doc-detail-444623-en":130},{"code":4,"msg":5,"data":6},0,"success",[7,13,18,23,28,33,38,43,48,51,55],{"id":8,"doc_module":4,"doc_module_name":9,"category_name":10,"show_sort_weight":11,"slug":12},1,"Document","Story & Novel",90,"story-novel",{"id":14,"doc_module":4,"doc_module_name":9,"category_name":15,"show_sort_weight":16,"slug":17},2,"Literature",80,"literature",{"id":19,"doc_module":4,"doc_module_name":9,"category_name":20,"show_sort_weight":21,"slug":22},4,"Exam",70,"exam",{"id":24,"doc_module":4,"doc_module_name":9,"category_name":25,"show_sort_weight":26,"slug":27},5,"Comic",60,"comic",{"id":29,"doc_module":4,"doc_module_name":9,"category_name":30,"show_sort_weight":31,"slug":32},6,"Technology",50,"technology",{"id":34,"doc_module":4,"doc_module_name":9,"category_name":35,"show_sort_weight":36,"slug":37},7,"Healthcare",40,"healthcare",{"id":39,"doc_module":4,"doc_module_name":9,"category_name":40,"show_sort_weight":41,"slug":42},8,"Research & Report",30,"research-report",{"id":44,"doc_module":4,"doc_module_name":9,"category_name":45,"show_sort_weight":46,"slug":47},9,"Religion & Spirituality",20,"religion-spirituality",{"id":46,"doc_module":4,"doc_module_name":9,"category_name":49,"show_sort_weight":46,"slug":50},"World Cup","world-cup",{"id":52,"doc_module":4,"doc_module_name":9,"category_name":53,"show_sort_weight":52,"slug":54},10,"Lifestyle","lifestyle",{"id":56,"doc_module":4,"doc_module_name":9,"category_name":57,"show_sort_weight":24,"slug":58},19,"General","general",{"code":4,"msg":60,"data":61},"ok",{"site_id":62,"language":63,"slug":64,"title":65,"keywords":66,"description":67,"schema_data":68,"social_meta":123,"head_meta":125,"extra_data":127,"updated_unix":129},105,"en","development-of-a-flexible-parallel-wire-robot-for-epicardial-interventions","Development of a Flexible Parallel Wire Robot for Epicardial Interventions","","HeartPrinter is presented as a flexible parallel wire robot for minimally invasive epicardial gene therapy on a beating heart. The system adheres using vacuum suction at three bases, while an injector head actuated by cables delivers gene-therapy injections within the bases’ workspace. An introducer mechanism is developed to deploy the robot onto the epicardium and to enable workspace determination and 3D heart-scan registration.",{"@graph":69,"@context":122},[70,84,105],{"@type":71,"itemListElement":72},"BreadcrumbList",[73,77,79,82],{"item":74,"name":75,"@type":76,"position":8},"https://docshare.wps.com","Home","ListItem",{"item":78,"name":9,"@type":76,"position":14},"https://docshare.wps.com/document/",{"item":80,"name":35,"@type":76,"position":81},"https://docshare.wps.com/document/healthcare/",3,{"item":83,"name":65,"@type":76,"position":19},"https://docshare.wps.com/document/development-of-a-flexible-parallel-wire-robot-for-epicardial-interventions/444623/",{"url":83,"name":65,"@type":85,"image":86,"author":91,"headline":65,"publisher":94,"fileFormat":97,"inLanguage":63,"description":67,"dateModified":98,"datePublished":99,"encodingFormat":97,"isAccessibleForFree":100,"interactionStatistic":101},"DigitalDocument",{"url":87,"@type":88,"width":89,"height":90},"https://docshare.wps.com/thumbnails/development-of-a-flexible-parallel-wire-robot-for-epicardial-interventions/444623.png","ImageObject",300,407,{"name":92,"@type":93},"Kurz","Person",{"url":74,"name":95,"@type":96},"DocShare","Organization","application/pdf","2026-10-29","2026-09-29",true,{"@type":102,"interactionType":103,"userInteractionCount":24},"InteractionCounter",{"@type":104},"ViewAction",{"@type":106,"mainEntity":107},"FAQPage",[108,114,118],{"name":109,"@type":110,"acceptedAnswer":111},"What is HeartPrinter designed to do in cardiac gene therapy?","Question",{"text":112,"@type":113},"HeartPrinter is designed to deploy onto the epicardium of a beating heart and deliver gene therapy injections using a cable-actuated injector head.","Answer",{"name":115,"@type":110,"acceptedAnswer":116},"How does the robot deploy and maintain contact with the heart?",{"text":117,"@type":113},"It uses an introducer mechanism for deployment, while vacuum suction at three bases provides adhesion to the beating heart.",{"name":119,"@type":110,"acceptedAnswer":120},"What performance was reported for accuracy and registration?",{"text":121,"@type":113},"The bases’ positions and anatomical model registration from a 3D heart scan were calculated accurately, with errors under 4 mm for base positioning and 2 mm for registration.","https://schema.org",{"og:url":83,"og:type":124,"og:title":65,"og:site_name":95,"og:description":67},"article",{"robots":126,"canonical":83},"index,follow",{"doc_id":128,"site_id":62},444623,1791165170,{"code":4,"msg":5,"data":131},{"doc_id":128,"user_id":132,"nickname":92,"user_avatar":133,"doc_module":4,"category_id":34,"category_name":35,"doc_title":65,"doc_description":67,"doc_content":134,"file_id":135,"file_url":136,"file_type":137,"file_size":138,"view_count":24,"is_deleted":4,"is_public":8,"is_downloadable":8,"audit_status":8,"page_count":46,"language":139,"language_code":63,"site_id":62,"html_lang":63,"table_of_contents":140,"faqs":141,"seo_title":142,"seo_description":67,"update_tm":143,"read_time":31,"preview_page_count":4},2336478945635,"https://ap-avatar.wpscdn.com/davatar_6f874abed73319feea01a86fa6f0fab8","The International Journal of  \nMedical Robotics and Computer Assisted Surgery  \n-  \nORIGINAL ARTICLE  OPEN ACCESS   \nDevelopment of a Flexible Parallel Wire Robot for Epicardial Interventions  \nAman Ladak1 | Johannes O. Bonatti2 | Roger J. Hajjar3 | Alaaeldin A. Shalaby4  | Cameron N. Riviere5  \n1Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA | 2Department of Cardiothoracic Surgery, University of Pittsburgh, Pittsburgh, Pennsylvania, USA | 3Gene and Cell Therapy Institute, Mass General Brigham, Boston, Massachusetts, USA | 4Department of  \nMedicine, University of Pittsburgh, Pittsburgh, Pennsylvania, USA | 5The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA Correspondence: Cameron N. Riviere ([camr@ri.cmu.edu](camr@ri.cmu.edu) )  \nReceived: 6 August 2025 | Revised: 16 December 2025 | Accepted: 22 December 2025  \nKeywords: beating‐heart surgery | cable‐driven parallel robots | epicardial intervention | gene therapy | robotic surgery | subxiphoid access  \nABSTRACT  \nBackground: HeartPrinter 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 theepicardium, an introducer mechanism is required. On the heart, the robot's workspace and anatomical model registration to its pose are needed.  \nMethods: We 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.  \nResults: The 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.  \nConclusions: The 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.  \n1 | Introduction  \nThe field of clinical gene therapy has advanced significantly in both regulatory and commercial aspects [1] . However, progress in cardiac gene therapy has stalled [2], primarily due to inadequate gene delivery mechanisms to the myocardium [3, 4] . Despite ongoing trials and advancements in identifying signalling pathways and vector creation [3], current delivery methods fail to achieve sufficient therapeutic expression in myocytes for effective heart disease and heart failure treatment [4] .  \nGene therapy serves as a targeted treatment designed to correct mutated genes or specific alterations linked to disease prevalence [4, 5] . Recombinant adeno‐associated virus vectors, which lack viral DNA, are particularly attractive for gene therapy as they can traverse the cell membrane and deliver their DNA cargo into the nucleus of a cell [6, 7]. Myocytes, being primarily  \nnon‐dividing cells, are ideal targets for adeno‐associated virus vectors in cardiac gene therapy [6] . A notable application is modulating atrioventricular nodal conduction to regulate heart rate by altering target cells [8] .  \nVarious delivery methods have been developed for cardiac gene therapy, such as aortic cross clamping, intravenous injection, and antegrade coronary artery injection [3] . However, such mechanisms have not performed well [8], demonstrating insufficient levels of transduction efficiency and uniformity [3] . Direct gene injection into the myocardium has demonstrated potential [4, 9]; however, current instrumentation only allows a small area of the myocardium to be reached [6] . This results in gene expression over a limited region, representing a lack of diffusion of the vector genome into myocytes [6, 9] and insufficient therapeutic response [9] . An optimal gene delivery method must ensure that the proportion of targeted tissue is  \nThis i","cbCain7Ek3UtGORU","https://ap.wps.com/l/cbCain7Ek3UtGORU","pdf",5442881,"English","# Introduction\n# Methods\n# Results\n# Conclusions","[{\"question\":\"What is HeartPrinter designed to do in cardiac gene therapy?\",\"answer\":\"HeartPrinter is designed to deploy onto the epicardium of a beating heart and deliver gene therapy injections using a cable-actuated injector head.\"},{\"question\":\"How does the robot deploy and maintain contact with the heart?\",\"answer\":\"It uses an introducer mechanism for deployment, while vacuum suction at three bases provides adhesion to the beating heart.\"},{\"question\":\"What performance was reported for accuracy and registration?\",\"answer\":\"The bases’ positions and anatomical model registration from a 3D heart scan were calculated accurately, with errors under 4 mm for base positioning and 2 mm for registration.\"}]","Development of a Flexible Parallel Wire Robot for Epicardial Interventions | PDF",1790708709]