| Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion. | |
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MedLine Citation:
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PMID: 22009934 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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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. Copyright © 2011 John Wiley & Sons, Ltd. |
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Authors:
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Nicholas A Patronik; Takeyoshi Ota; Marco A Zenati; Cameron N Riviere |
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Publication Detail:
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Type: JOURNAL ARTICLE Date: 2011-10-19 |
Journal Detail:
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Title: The international journal of medical robotics + computer assisted surgery : MRCAS Volume: - ISSN: 1478-596X ISO Abbreviation: - Publication Date: 2011 Oct |
Date Detail:
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Created Date: 2011-10-19 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101250764 Medline TA: Int J Med Robot Country: - |
Other Details:
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Languages: ENG Pagination: - Citation Subset: - |
Copyright Information:
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Copyright © 2011 John Wiley & Sons, Ltd. |
Affiliation:
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The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA. |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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