The Method to Measure Heart Motion Data of Animal for Medical Robotic Research

  • Myun Joong Hwang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 164)


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.


Sonomicrometry 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.


  1. 1.
    Nakamura, Y., Kishi, K., Kawakami, H.: Heartbeat synchronization for robotic cardiac surgery. In: IEEE International Conference on Robotics and Automation (ICRA), vol. 2, pp. 2014–2019 (2001)Google Scholar
  2. 2.
    Thakral, A., Wallace, J., Tomlin, D., Seth, N., Thakor, N.V.: Surgical motion adaptive robotic technology (S.M.A.R.T.): taking the motion out of physiological motion. In: 4th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), pp. 317–325, October (2001)Google Scholar
  3. 3.
    Hoff, L., Elle, O.J., Grimnes, M.J., Halvorsen, S., Alker, H.J., Fosse, E.: Measurements of heart motion using accelerometers. In: 26th Annual International Conference of the IEEE EMBS, pp. 2049–2051, San Francisco, CA, USA (2004)Google Scholar
  4. 4.
    Bebek, O., Cavusoglu, M.C.: Whisker-like position sensor for measuring physiological motion. IEEE/ASME Trans. Mechatron. 13(5), 538–547 (2008)CrossRefGoogle Scholar
  5. 5.
  6. 6.
    Ratcliffe, M.B., Gupta, K.B., Streicher, J.T., Savage, E.B., Bogen, D.K., Edmunds, L.H.: Use of sonomicrometry and multidimensional scaling to determine the three-dimensional coordinates of multiple cardiac locations: feasibility and initial implementation. IEEE Trans. Biomed. Eng. 42(6), 587–598 (1995)CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media Dortdrecht 2012

Authors and Affiliations

  1. 1.Samsung Electronics Co., LtdSuwon-siRepublic of Korea

Personalised recommendations