Coronary Vessel Detection Methods for Organ-mounted Robots

Overview

Journal Int J Med Robot

Publisher Wiley

Specialties Biotechnology
General Surgery

Date 2021 Jun 3

PMID 34081821

Authors

Eric T Rasmussen

Eric C Shiao

Lee Zourelias

Michael S Halbreiner

Michael J Passineau

Srinivas Murali

Cameron N Riviere

Affiliations

Soon will be listed here.

Abstract

Background: HeartLander is a tethered robot walker that utilizes suction to adhere to the beating heart. HeartLander can be used for minimally invasive administration of cardiac medications or ablation of tissue. In order to administer injections safely, HeartLander must avoid coronary vasculature.

Methods: Doppler ultrasound signals were recorded using a custom-made cardiac phantom and used to classify different coronary vessel properties. The classification was performed by two machine learning algorithms, the support vector machines and a deep convolutional neural network. These algorithms were then validated in animal trials.

Results: Accuracy of identifying vessels above turbulent flow reached greater than 92% in phantom trials and greater than 98% in animal trials.

Conclusions: Through the use of two machine learning algorithms, HeartLander has shown the ability to identify different sized vasculature proximally above turbulent flow. These results indicate that it is feasible to use Doppler ultrasound to identify and avoid coronary vasculature during cardiac interventions using HeartLander.

References

Dodge Jr J, Brown B, Bolson E, DODGE H . Lumen diameter of normal human coronary arteries. Influence of age, sex, anatomic variation, and left ventricular hypertrophy or dilation. Circulation. 1992; 86(1):232-46. DOI: 10.1161/01.cir.86.1.232. View

Ubeyli E, Guler I . Feature extraction from Doppler ultrasound signals for automated diagnostic systems. Comput Biol Med. 2005; 35(9):735-64. DOI: 10.1016/j.compbiomed.2004.06.006. View

WOMERSLEY J . Method for the calculation of velocity, rate of flow and viscous drag in arteries when the pressure gradient is known. J Physiol. 1955; 127(3):553-63. PMC: 1365740. DOI: 10.1113/jphysiol.1955.sp005276. View

Tung R, Boyle N, Shivkumar K . Catheter ablation of ventricular tachycardia. Circulation. 2010; 122(3):e389-91. PMC: 2918802. DOI: 10.1161/CIRCULATIONAHA.110.963371. View

Fu D . Cardiac Arrhythmias: Diagnosis, Symptoms, and Treatments. Cell Biochem Biophys. 2015; 73(2):291-296. DOI: 10.1007/s12013-015-0626-4. View

Armoundas A, Feldman A, Mukkamala R, Cohen R . A single equivalent moving dipole model: an efficient approach for localizing sites of origin of ventricular electrical activation. Ann Biomed Eng. 2003; 31(5):564-76. DOI: 10.1114/1.1567281. View

Alejandro Gomez F, Ballesteros L . Morphologic expression of the left coronary artery in pigs. An approach in relation to human heart. Rev Bras Cir Cardiovasc. 2014; 29(2):214-20. PMC: 4389449. DOI: 10.5935/1678-9741.201400270. View

Cafarelli A, Miloro P, Verbeni A, Carbone M, Menciassi A . Speed of sound in rubber-based materials for ultrasonic phantoms. J Ultrasound. 2016; 19(4):251-256. PMC: 5126009. DOI: 10.1007/s40477-016-0204-7. View

Haj-Hosseini N, Richter J, Milos P, Hallbeck M, Wardell K . 5-ALA fluorescence and laser Doppler flowmetry for guidance in a stereotactic brain tumor biopsy. Biomed Opt Express. 2018; 9(5):2284-2296. PMC: 5946788. DOI: 10.1364/BOE.9.002284. View

10.

Balter M, Chen A, Maguire T, Yarmush M . Adaptive Kinematic Control of a Robotic Venipuncture Device Based on Stereo Vision, Ultrasound, and Force Guidance. IEEE Trans Ind Electron. 2017; 64(2):1626-1635. PMC: 5240937. DOI: 10.1109/TIE.2016.2557306. View

11.

Aquilina O . A brief history of cardiac pacing. Images Paediatr Cardiol. 2012; 8(2):17-81. PMC: 3232561. View

12.

Wang Q, Chan K, Schweizer K, Du X, Jin D, Yu S . Ultrasound Doppler-guided real-time navigation of a magnetic microswarm for active endovascular delivery. Sci Adv. 2021; 7(9). PMC: 7909881. DOI: 10.1126/sciadv.abe5914. View

13.

Moehlis J, Eckhardt B, Faisst H . Fractal lifetimes in the transition to turbulence. Chaos. 2004; 14(4):S11. DOI: 10.1063/1.1821751. View

14.

Johnson J, KIRBY C . The surgical treatment of ventricular fibrillation. Ann Surg. 1951; 134(4):672-82. PMC: 1802965. DOI: 10.1097/00000658-195110000-00014. View

15.

Freidoonimehr N, Arjomandi M, Sedaghatizadeh N, Chin R, Zander A . Transitional turbulent flow in a stenosed coronary artery with a physiological pulsatile flow. Int J Numer Method Biomed Eng. 2020; 36(7):e3347. DOI: 10.1002/cnm.3347. View

16.

Wright M, Sacher F, Haissaguerre M . Catheter ablation for patients with ventricular fibrillation. Curr Opin Cardiol. 2008; 24(1):56-60. DOI: 10.1097/HCO.0b013e32831c505e. View

17.

Kawel N, Turkbey E, Carr J, Eng J, Gomes A, Hundley W . Normal left ventricular myocardial thickness for middle-aged and older subjects with steady-state free precession cardiac magnetic resonance: the multi-ethnic study of atherosclerosis. Circ Cardiovasc Imaging. 2012; 5(4):500-8. PMC: 3412148. DOI: 10.1161/CIRCIMAGING.112.973560. View

18.

Aarnoudse W, Vant Veer M, Pijls N, Ter Woorst J, Vercauteren S, Tonino P . Direct volumetric blood flow measurement in coronary arteries by thermodilution. J Am Coll Cardiol. 2007; 50(24):2294-304. DOI: 10.1016/j.jacc.2007.08.047. View

19.

Patronik N, Ota T, Zenati M, Riviere C . A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart. IEEE Trans Robot. 2010; 25(5):1109-1124. PMC: 2826133. DOI: 10.1109/tro.2009.2027375. View

20.

Ota T, Patronik N, Schwartzman D, Riviere C, Zenati M . Minimally invasive epicardial injections using a novel semiautonomous robotic device. Circulation. 2008; 118(14 Suppl):S115-20. PMC: 2832072. DOI: 10.1161/CIRCULATIONAHA.107.756049. View