Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion.
Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion.
复制标题
心外膜爬行机器人与心跳和呼吸同步，以提高运动的安全性和效率。
DOI：
10.1002/rcs.442
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Riviere,CameronN
中科院分区：
文献类型：
--
作者：
Patronik,NicholasA;Ota,Takeyoshi;Zenati,MarcoA;Riviere,CameronN
BackgroundHeartLander 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.MethodsRespiratory and heartbeat phases were detected in real time using a chest‐mounted accelerometer during locomotion in a porcine modelin vivo. Trials were conducted over the lateral aspect of the heart surface to test synchronized locomotion against an unsynchronized control.ResultsOffline 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.ConclusionSynchronization 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.
