A fascinating new paper from researchers at Carnegie Mellon University describes the development and construction of a mobile robot driven by miniature ultrasonic piezoelectric motors (Squiggle) for minimally invasive cardiac therapy. The robot design builds on previous prototypes of HeartLander, a miniature mobile robot that moves in an inchworm-like fashion. Construction of the system included motor selection, body design, and development of the control system. This paper describes the design of the robotic platform and preliminary testing results in vitro. Development of the robot allows for increased turning capability and higher traction during locomotion, and represents the first step in designing a wireless mobile robot for cardiac therapy.