Abstract: One embodiment of a fluid mobilizing vessel shown in FIG. 1 comprises a hull (14) impervious to a surrounding fluid (12), a solar cell (16) capable of converting light (18) into electrical energy, an electromechanical actuator (24), and a mobile weight (28) movable with respect to the hull, whereby the electromechanical actuator moves the weight relative to the hull, causing compensatory motion of the hull within the surrounding fluid and thereby motion (32) of the surrounding fluid.

Abstract: Rather than trying to immobilize a living, moving organ to place the organ in the fixed frame of reference of a table-mounted robotic device, the present disclosure teaches mounting a robot in the moving frame of reference of the organ. That task can be accomplished with a wide variety of robots including a miniature crawling robotic device designed to be introduced, in the case of the heart, into the pericardium through a port, attach itself to the epicardial surface, and then, under the direct control of the surgeon, travel to the desired location for treatment. The problem of beating-heart motion is largely avoided by attaching the device directly to the epicardium. The problem of access is resolved by incorporating the capability for locomotion. The device and technique can be used on other organs and on other living bodies such as pets, farm animals, etc. Because of the rules governing abstracts, this abstract should not be used in construing the claims.