Evaluation in vitro of a treatment planning algorithm for an epicardial crawling robot

Author

Goyette, Brina E. ; Becker, Brian C. ; Zenati, Marco A. ; Riviere, Cameron N.

Author_Institution

Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

fYear

2010

fDate

Aug. 31 2010-Sept. 4 2010

Firstpage

2275

Lastpage

2278

Abstract

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.

Keywords

cardiology; medical robotics; mobile robots; patient treatment; HeartLander; beating heart model; epicardial crawling robot; mobile robot; surgery; treatment planning algorithm; Atmospheric modeling; Cities and towns; Foot; Greedy algorithms; Heart beat; Surface treatment; Algorithms; Biosensing Techniques; Cardiac Surgical Procedures; Equipment Design; Heart; Humans; Models, Statistical; Motion; Pericardium; Robotics; Surgery, Computer-Assisted; Time Factors; Treatment Outcome;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE

Conference_Location

Buenos Aires

ISSN

1557-170X

Print_ISBN

978-1-4244-4123-5

Type

conf

DOI

10.1109/IEMBS.2010.5627690

Filename

5627690