Document Detail


Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion.
MedLine Citation:
PMID:  22009934     Owner:  NLM     Status:  MEDLINE    
Abstract/OtherAbstract:
BACKGROUND: HeartLander is a miniature mobile robot designed to navigate over the epicardium of the beating heart for minimally invasive therapy. This paper presents a technique to decrease slippage and improve locomotion efficiency by synchronizing the locomotion with the intrapericardial pressure variations of the respiration and heartbeat cycles.
METHODS: Respiratory and heartbeat phases were detected in real time using a chest-mounted accelerometer during locomotion in a porcine model in vivo. Trials were conducted over the lateral aspect of the heart surface to test synchronized locomotion against an unsynchronized control.
RESULTS: Offline evaluation showed that the respiration and heartbeat algorithms had accuracies of 100% and 88%, respectively. Synchronized trials exhibited significantly lower friction, higher efficiency, and greater total distance traveled than control trials.
CONCLUSION: Synchronization of the locomotion of HeartLander with respiration and heartbeat is feasible and results in safer and more efficient travel on the beating heart.
Authors:
Nicholas A Patronik; Takeyoshi Ota; Marco A Zenati; Cameron N Riviere
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Publication Detail:
Type:  Journal Article; Research Support, N.I.H., Extramural; Research Support, U.S. Gov't, Non-P.H.S.     Date:  2011-10-19
Journal Detail:
Title:  The international journal of medical robotics + computer assisted surgery : MRCAS     Volume:  8     ISSN:  1478-596X     ISO Abbreviation:  Int J Med Robot     Publication Date:  2012 Mar 
Date Detail:
Created Date:  2012-03-06     Completed Date:  2012-07-10     Revised Date:  2013-06-27    
Medline Journal Info:
Nlm Unique ID:  101250764     Medline TA:  Int J Med Robot     Country:  England    
Other Details:
Languages:  eng     Pagination:  97-106     Citation Subset:  IM    
Copyright Information:
Copyright © 2011 John Wiley & Sons, Ltd.
Affiliation:
The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA.
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MeSH Terms
Descriptor/Qualifier:
Acceleration
Algorithms
Animals
Equipment Design
Heart / physiology*
Heart Rate
Humans
Locomotion
Pericardium / pathology*
Reproducibility of Results
Respiration
Robotics*
Surgical Procedures, Minimally Invasive / instrumentation,  methods*
Swine
Grant Support
ID/Acronym/Agency:
R01 HL078839/HL/NHLBI NIH HHS; R01 HL078839-07/HL/NHLBI NIH HHS
Comments/Corrections

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