A Robot Mimicking Heart Motions: An Ex-Vivo Test Approach for Cardiac Devices.
Ex-vivo
Hexapod
Inverse kinematic
Simulator
Stewart platform
Journal
Cardiovascular engineering and technology
ISSN: 1869-4098
Titre abrégé: Cardiovasc Eng Technol
Pays: United States
ID NLM: 101531846
Informations de publication
Date de publication:
04 2022
04 2022
Historique:
received:
23
03
2021
accepted:
12
07
2021
pubmed:
20
8
2021
medline:
20
5
2022
entrez:
19
8
2021
Statut:
ppublish
Résumé
The pre-clinical testing of cardiovascular implants gains increasing attention due to the complexity of novel implants and new medical device regulations. It often relies on large animal experiments that are afflicted with ethical and methodical challenges. Thus, a method for simulating physiological heart motions is desired but lacking so far. We developed a robotic platform that allows simulating the trajectory of any point of the heart (one at a time) in six degrees of freedom. It uses heart motion trajectories acquired from cardiac magnetic resonance imaging or accelero-meter data. The rotations of the six motors are calculated based on the input trajectory. A closed-loop controller drives the platform and a graphical user interface monitors the functioning and accuracy of the robot using encoder data. The robotic platform can mimic physiological heart motions from large animals and humans. It offers a spherical work envelope with a radius of 29 mm, maximum acceleration of 20 m/s The novel robotic approach allows reproducing heart motions with high accuracy and repeatability. This may benefit the device development process and allows re-using previously acquired heart motion data repeatedly, thus avoiding animal trials.
Identifiants
pubmed: 34409579
doi: 10.1007/s13239-021-00566-3
pii: 10.1007/s13239-021-00566-3
pmc: PMC9114091
doi:
Types de publication
Journal Article
Research Support, Non-U.S. Gov't
Langues
eng
Sous-ensembles de citation
IM
Pagination
207-218Informations de copyright
© 2021. The Author(s).
Références
Artif Organs. 2021 Apr;45(4):E41-E52
pubmed: 33031563
Europace. 2020 Jun 1;22(6):939-946
pubmed: 32361742
IEEE Trans Biomed Circuits Syst. 2017 Feb;11(1):78-86
pubmed: 27662683
Ann Thorac Surg. 2019 Jul;108(1):90-97
pubmed: 30836099
Nat Rev Cardiol. 2021 Jan;18(1):7-21
pubmed: 32895536
ALTEX. 2020 Jun 22;38(1):49-62
pubmed: 32591838
Heart Rhythm. 2021 Feb;18(2):288-296
pubmed: 33035647
Circulation. 2014 Apr 8;129(14):1466-71
pubmed: 24664277
ALTEX. 2017;34(4):479-500
pubmed: 28539002
Pacing Clin Electrophysiol. 2018 Oct;41(10):1365-1371
pubmed: 30066363
Heart Rhythm. 2021 Jan;18(1):41-49
pubmed: 32798776
IEEE Trans Biomed Eng. 2015 Sep;62(9):2316-23
pubmed: 26111389
ALTEX. 2007;24(3):172-3
pubmed: 17891323
Ann Biomed Eng. 2013 Jan;41(1):131-41
pubmed: 22805983
PLoS One. 2020 Sep 28;15(9):e0239667
pubmed: 32986751
Heart Rhythm. 2017 Feb;14(2):294-299
pubmed: 27756706
Eur J Cardiothorac Surg. 2002 Aug;22(2):244-8
pubmed: 12142193
Front Cardiovasc Med. 2018 Sep 19;5:129
pubmed: 30283790
Interact Cardiovasc Thorac Surg. 2018 Feb 1;26(2):190-195
pubmed: 29361168
IEEE Trans Biomed Eng. 2018 Feb;65(2):424-430
pubmed: 29346109