Position estimation of an epicardial crawling robot on the beating heart by modeling of physiological motion - Robotics Institute Carnegie Mellon University

Position estimation of an epicardial crawling robot on the beating heart by modeling of physiological motion

N. A. Wood, D. Moral del Agua, M. A. Zenati, and C. N. Riviere
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4522 - 4527, September, 2011

Abstract

HeartLander, a small mobile robot designed to provide treatments to the surface of the beating heart, overcomes a major difficulty of minimally invasive cardiac surgery, providing a stable operating platform. This is achieved inherently in the way the robot adheres to and crawls over the surface of the heart. This mode of operation does not require physiological motion compensation to provide this stable environment; however, modeling of physiological motion is advantageous in providing more accurate position estimation as well as synchronization of motion to the physiological cycles. The work presented uses an Extended Kalman Filter framework to estimate parameters of non-stationary Fourier series models of the motion of the heart due to the respiratory and cardiac cycles as well as the position of the robot as it moves over the surface of the heart. The proposed method is demonstrated in the laboratory with HeartLander operating on a physiological motion simulator. Improved performance is demonstrated in comparison to the filtering methods previously used with HeartLander. The use of detected physiological cycle phases to synchronize locomotion of HeartLander is also described.

BibTeX

@conference{Wood-2011-120622,
author = {N. A. Wood and D. Moral del Agua and M. A. Zenati and C. N. Riviere},
title = {Position estimation of an epicardial crawling robot on the beating heart by modeling of physiological motion},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2011},
month = {September},
pages = {4522 - 4527},
}