Techniques for Avoidance of Coronary Vasculature during Epicardial Needle Insertions with a Miniature Robotic Walker

Abstract

This paper presents early results of investigation of techniques for detection and avoidance of coronary vessels to be used by a miniature epicardial robotic walker during needle insertion for ablation or injection. Detection of blood vessels was investigated using both near-infrared spectroscopy and Doppler flow ultrasound. Near-infrared spectroscopy was tested on the skin of the human hand in vivo, both with and without overlaying additional layers of animal muscle and fat tissue. Doppler flow ultrasound was tested in an artificial ultrasound flow phantom, and on the skin of the human hand in vivo.