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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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