Related Experiment Video
Updated: May 14, 2026
10:33
Local Field Fluorescence Microscopy: Imaging Cellular Signals in Intact Hearts
Published on: March 8, 2017
Towards localizing on the surface of the beating heart
Nathan A Wood1, Tian Yu Tommy Liu, Kevin Waugh
1The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213, USA. fnwood@andrew@rig.cmu.edu
Summary
This study introduces a new method for robots to pinpoint their location on a deforming surface, like the heart, using only their movement data. This technique helps robots navigate complex biological environments more effectively.
Area of Science:
- Robotics
- Biomedical Engineering
- Computer Science
Background:
- Robots operating in dynamic biological environments face localization challenges.
- Accurate localization is crucial for robotic surgery and medical interventions.
Purpose of the Study:
- To develop a localization framework for robots on periodically deforming surfaces.
- To utilize non-uniform movements of biological surfaces as features for robot localization.
- To enhance the capabilities of the HeartLander epicardial robot.
Main Methods:
- Employing a particle filter for localization.
- Developing accurate motion and observation models for the robotic system.
- Utilizing position measurements from the robot for feature extraction.
- Demonstrating the framework in dynamic 2-D simulations.
Main Results:
- The proposed framework enables quick and accurate identification of registration and localization parameters.
- Simulations show the effectiveness of using surface deformation for localization.
- The method leverages the heart's non-uniform movements as localization features.
Conclusions:
- The presented particle filter-based approach is effective for localizing robots on deforming surfaces.
- This work provides a foundation for autonomous navigation of epicardial robots.
- The method shows promise for real-world applications in cardiac robotics.
Related Concept Videos
01:13Location and Orientation of the Heart
The human heart, despite its modest size and weight, is an organ of remarkable strength and endurance. Roughly the size of a fist, the heart weighs between 250 and 350 grams and is nestled within the mediastinum, the medial cavity of the thorax. It extends obliquely for about 12 to 14 cm, resting on the superior surface of the diaphragm. The heart is positioned anterior to the vertebral column and posterior to the sternum, with two-thirds of its mass lying to the left of the midsternal line.
01:27Anatomy of the Heart
The human heart is made up of three layers of tissue that are surrounded by the pericardium, a membrane that protects and confines the heart. The outermost layer, closest to the pericardium, is the epicardium. The pericardial cavity separates the pericardium from the epicardium. Beneath the epicardium is the myocardium, the middle layer, and the endocardium, the innermost layer. There are four chambers of the heart: the right atrium, the right ventricle, the left atrium, and the left ventricle.
01:20Anatomy of the Heart
The heart is a hollow, muscular organ approximately the size of a fist, consisting of four chambers. It is enclosed in the pericardium, a fibrous sac with two layers: the visceral and parietal pericardium, separated by a fluid-filled space containing serous fluid to reduce friction.
The heart has three layers: the innermost endocardium, the muscular myocardium, and the outer epicardium, all working together for optimal cardiac function.
Chambers of the Heart
The heart is made up of four...
The heart has three layers: the innermost endocardium, the muscular myocardium, and the outer epicardium, all working together for optimal cardiac function.
Chambers of the Heart
The heart is made up of four...
01:20Conduction System of the Heart
The cardiac conduction system produces and transmits electrical impulses that prompt myocardial contraction, ensuring efficient heart function. This intricate system ensures that the heart beats in a coordinated and efficient manner, beginning with the atria and then the ventricles. The conduction system optimizes cardiac output by maintaining this precise sequence, which is crucial for adequate blood circulation.
This system relies on the unique properties of nodal and Purkinje cells:...
This system relies on the unique properties of nodal and Purkinje cells:...
01:19Conduction System of the Heart
Autorhythmicity is a term that refers to the heart's inherent ability to generate electrical signals and instigate muscle contractions. This self-regulating conduction system within the heart consists of two key components: the pacemaker cells and specialized conducting cells.
The pacemaker cells are located in two primary nodes: the sinoatrial (SA) node and the atrioventricular (AV) node. The SA node pacemaker cells can autonomously depolarize, triggering an action potential that leads to the...
The pacemaker cells are located in two primary nodes: the sinoatrial (SA) node and the atrioventricular (AV) node. The SA node pacemaker cells can autonomously depolarize, triggering an action potential that leads to the...
01:27Development of the Heart
The development of the human heart, a crucial organ, commences from the mesoderm on the 18th or 19th day after fertilization. This process initiates in the cardiogenic area, a group of mesodermal cells at the embryo's head end, which evolves into elongated strands known as cardiogenic cords. These cords undergo a transformation to form hollow-centered endocardial tubes.
As the embryo undergoes lateral folding, these paired tubes approach each other, merging into a single primitive heart tube by...
As the embryo undergoes lateral folding, these paired tubes approach each other, merging into a single primitive heart tube by...