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Related Experiment Video

Updated: Nov 3, 2025

Retrograde Perfusion and Filling of Mouse Coronary Vasculature as Preparation for Micro Computed Tomography Imaging
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Coronary vessel detection methods for organ-mounted robots.

Eric T Rasmussen1, Eric C Shiao1, Lee Zourelias2

  • 1Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|June 3, 2021
PubMed
Summary

HeartLander, a robotic cardiac device, uses machine learning and Doppler ultrasound to identify and avoid coronary vasculature. This technology enhances the safety of minimally invasive cardiac interventions by accurately detecting blood vessels.

Keywords:
beating heartcardiacepicardialheartorgan-mounted robotssensorsultrasound

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Area of Science:

  • Robotics in Medicine
  • Biomedical Engineering
  • Cardiovascular Interventions

Background:

  • HeartLander is a tethered robotic walker using suction for cardiac procedures.
  • Potential applications include minimally invasive drug delivery and tissue ablation.
  • Safe intervention requires precise avoidance of coronary vasculature.

Purpose of the Study:

  • To develop and validate a system for identifying coronary vasculature during cardiac interventions.
  • To assess the feasibility of using machine learning with Doppler ultrasound for vessel detection.
  • To ensure the safe navigation of the HeartLander robot.

Main Methods:

  • Doppler ultrasound signals were recorded from a cardiac phantom.
  • Machine learning algorithms (Support Vector Machines, Deep Convolutional Neural Network) classified vessel properties.
  • Algorithms were validated through animal trials.

Main Results:

  • Vessel identification accuracy exceeded 92% in phantom trials.
  • Accuracy surpassed 98% in animal trials.
  • Successful classification of vasculature proximal to turbulent flow was achieved.

Conclusions:

  • Machine learning algorithms effectively identify coronary vasculature using Doppler ultrasound.
  • Feasibility of Doppler ultrasound for coronary vasculature identification with HeartLander is demonstrated.
  • This technology supports safer cardiac interventions by enabling vessel avoidance.