心外膜爬行机器人治疗计划算法的体外评估
Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot.
作者信息
Goyette Brina E, Becker Brian C, Zenati Marco A, Riviere Cameron N
机构信息
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:2275-8. doi: 10.1109/IEMBS.2010.5627690.
HeartLander is a small, mobile robot designed to assist surgical procedures on the surface of the heart. It crawls within the pericardial sac surrounding the heart. Numerous potential clinical uses for HeartLander involve injections or other interventions at multiple locations on the epicardial surface. To minimize treatment time, we have developed an algorithm that optimizes a plan for reaching a given set of treatment targets. Results from in vitro evaluation on a beating heart model show improvement over a greedy technique.
“心脏着陆者”是一种小型移动机器人，旨在辅助心脏表面的外科手术。它在心包膜囊内围绕心脏爬行。“心脏着陆者”有许多潜在的临床用途，包括在心外膜表面的多个位置进行注射或其他干预。为了尽量缩短治疗时间，我们开发了一种算法，用于优化到达给定治疗靶点集的计划。在跳动心脏模型上进行的体外评估结果表明，该算法比贪婪技术有所改进。
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