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. Author manuscript; available in PMC: 2010 Feb 22.
Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

Fig. 1.

Fig. 1

HeartLander concept (the ribs and lungs are shown transparent, while the skin and pericardium are not shown). The robot is inserted through an incision below the sternum, adheres to the heart surface using suction, and provides semiautonomous access to any specified target on the heart surface.