心外膜爬行机器人与心跳和呼吸的同步，以提高运动的安全性和效率。

Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion.

机构信息

The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA.

出版信息

Int J Med Robot. 2012 Mar;8(1):97-106. doi: 10.1002/rcs.442. Epub 2011 Oct 19.

DOI:10.1002/rcs.442

PMID:22009934

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC3288233/

Abstract

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.

摘要

背景

HeartLander 是一种微型移动机器人，旨在在心包膜上进行导航，以实现微创治疗。本文提出了一种通过使机器人的运动与呼吸和心跳周期的心包内压变化同步来减少滑动并提高运动效率的技术。

方法

在活体猪模型中运动时，使用胸部安装的加速度计实时检测呼吸和心跳相位。在心脏表面的侧面进行试验，以同步运动与非同步对照进行测试。

结果

离线评估表明，呼吸和心跳算法的准确性分别为 100%和 88%。同步试验表现出的摩擦力显著降低、效率更高，并且总行进距离也大于对照试验。

结论

使 HeartLander 的运动与呼吸和心跳同步是可行的，并且可以在跳动的心脏上实现更安全、更高效的运动。

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本文引用的文献

Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robotic Assisted Beating Heart Surgery.基于自适应估计算法的机器人辅助心脏跳动手术心脏运动预测

IEEE Trans Robot. 2013 Feb 1;29(1):261-276. doi: 10.1109/TRO.2012.2217676.

A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart.一种用于在跳动心脏上进行导航和定位的微型移动机器人。

IEEE Trans Robot. 2009;25(5):1109-1124. doi: 10.1109/tro.2009.2027375.

Motion prediction for computer-assisted beating heart surgery.计算机辅助不停跳心脏手术中的运动预测。

IEEE Trans Biomed Eng. 2009 Nov;56(11):2551-63. doi: 10.1109/TBME.2009.2026054. Epub 2009 Jun 26.

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Int J Med Robot. 2009 Jun;5(2):170-7. doi: 10.1002/rcs.244.

Minimally invasive epicardial injections using a novel semiautonomous robotic device.使用新型半自动机器人设备进行微创心外膜注射。

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Mapping the human body for vibrations using an accelerometer.使用加速度计对人体振动进行映射。

Annu Int Conf IEEE Eng Med Biol Soc. 2007;2007:1671-4. doi: 10.1109/IEMBS.2007.4352629.

Robotics in cardiac surgery: the Emperor's new clothes.心脏外科手术中的机器人技术：皇帝的新衣。

J Thorac Cardiovasc Surg. 2007 Sep;134(3):559-61. doi: 10.1016/j.jtcvs.2006.08.026.

Do cardiac stabilizers really stabilize? Experimental quantitative analysis of mechanical stabilization.心脏稳定器真的能起到稳定作用吗？机械稳定作用的实验定量分析。

Interact Cardiovasc Thorac Surg. 2005 Jun;4(3):222-6. doi: 10.1510/icvts.2004.098517. Epub 2005 Mar 29.

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