The Method to Measure Heart Motion Data of Animal for Medical Robotic Research
This paper presents a method to measure heart motion data of animal model in vivo. In medical robotic research, collecting experimental motion data is an important work to validate a new instrument or control algorithm. Sonomicrometry system is installed inside of the heart and piezoelectric crystals are placed using the suggested sensor plate. Distance between two crystals is recorded and 3-D positional data is calculated with six crystals. Five crystals are placed on the plate and one crystal is attached on surface of the heart. The balloon filled with medium is placed between plate and one moving crystal is sutured at the target point to transmit ultrasound signal from moving one to five fixed crystals. Normal beating, arrhythmia, and heart rate changing cases are considered in this test.
KeywordsSonomicrometry system Heart motion Medical robotics
This work was supported in part by the Brain Korea 21 Project in 2007. The author would like to thank Prof. M. Cenk Cavusoglu and Prof. Ozkan Bebek for discussing design of the experimental setup.
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