Title :
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
fDate :
Aug. 31 2010-Sept. 4 2010
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;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE
Conference_Location :
Buenos Aires
Print_ISBN :
978-1-4244-4123-5
DOI :
10.1109/IEMBS.2010.5627690
