Robotic Actuator Mimicking Papillary Muscle Motion
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Solution Overview
Problem
Current heart simulation technologies fail to accurately replicate the dynamic motion of papillary muscles during the cardiac cycle, which is crucial for realistic heart valve simulation, as they are typically modeled as stationary, neglecting their actual translation and rotation.
Innovation Solution
A heart simulator utilizing six-degree of freedom robotic actuators, such as a Stewart platform or mechanical linkages, driven by controllers to simulate the natural motion of papillary muscles, including both translation and rotation, which can be subject-specific or derived from databases.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If papillary muscles are modeled as stationary in heart simulation, then the simulation model is simpler, but the fidelity of heart valve simulation is reduced
Solution Approach 1:
The patent applies the Dynamics principle by transforming the stationary papillary muscle model into a dynamic one that replicates physiological motion. A robotic actuator system with six degrees of freedom is used to move the papillary muscles in three-dimensional space, enabling both translation and rotation to match in vivo cardiac motion patterns. This dynamic modeling approach significantly improves heart valve simulation fidelity while maintaining manageable system complexity through modular robotic architecture.
2Manufacturing precision
If six-degree of freedom robotic actuators are used to simulate papillary muscle motion, then the motion fidelity is improved, but the device complexity increases
Solution Approach 1:
The patent employs the Copying principle by creating a robotic replica of the papillary muscle attachment point that mimics the physiological structure and motion characteristics. The end effector of the robotic actuator is designed to replicate the papillary muscle's insertion point on the mitral valve, allowing faithful reproduction of natural cardiac motion patterns without requiring the entire heart structure to be replicated.
Solution Approach 2:
The robotic actuator system demonstrates universality by integrating multiple functions into a single platform: it provides six degrees of freedom for comprehensive motion control, serves as both positioner and orientation controller, and can accommodate different papillary muscle configurations. The Stewart platform architecture enables the system to handle various motion requirements through a unified mechanical structure.
3Measurement precision
If subject-specific motion data is used to drive papillary muscle simulation, then the patient-specific treatment accuracy is improved, but the data acquisition and processing complexity increases
Solution Approach 1:
The patent implements Feedback by using subject-specific imaging data (such as from MRI or CT scans) to characterize individual papillary muscle motion patterns, then feeding this information back into the robotic control system. The measured in vivo motion trajectories from medical imaging are processed to generate control commands that drive the robotic actuator, creating a closed-loop system that adapts to patient-specific anatomy and physiology for personalized treatment planning.
Data Source
AI summary
Simulated motion of the papillary muscles in a heart simulator is provided that simulates natural motion of the papillary muscles. This improves heart valve simulation. This can be done with a six degree of freedom robotic actuator (e.g., a Stewart platform or the like) appropriately driven by a controller. This can also be done with a robotic actuator that provides constrained motion of its effector by including a mechanical linkage, as long as the resulting simulated papillary muscle motion includes time-varying position and orientation of the papillary muscle.