Miyuki Uematsu

Development of an Artificial Myocardium using a Covalent Shape-memory Alloy Fiber and its Cardiovascular Diagnostic Response

The authors have been developing a newly-designed totally-implantable artificial myocardium using a covalent shape-memory alloy fibre (Biometalreg, Toki Corporation), which is attached onto the ventricular wall and is also capable of supporting the natural ventricular contraction. This mechanical system consists of a contraction assistive device, which is made of Ti-Ni alloy. And the phenomenon of the martensitic transformation of the alloy was employed to achieve the physiologic motion of the device. The diameter of the alloy wire could be selected from 45 to 250 mum. In this study, the basic characteristics of the fiber of 150 mum was examined to design the sophisticated mechano-electric myocardium. The stress generated by the fiber was 400 gf under the pulsatile driving condition (0.4W, 1 Hz). Therefore it was indicated that the effective assistance might be achieved by using the Biometal shape-memory alloy fiber

Comparison of control modes of a hand-held robot for laparoscopic surgery

Teleoperated robots for minimally invasive surgery make surgeons loose direct contact with the patient. We are developing a handheld, dexterous surgical robot that can be controlled with one hand only, while standing at the operating table. The instrument is composed of a master part (the handle) and a slave part (the tip). This work compares the performance of different control modes, i.e. different ways to map the degrees of freedom of the handle to those of the tip. We ask users to drive the tip along complex trajectories in a virtual environment, using the real master to drive a simulated slave, and assess their performance. Results show that, concerning time, users with no training in laparoscopy prefer a direct mapping of position and orientation, like in free hand motion. However, users trained in laparoscopy perform equally fast with our hand-held robot and, concerning precision, make a smaller number of errors.

Sensorless control for a sophisticated artificial myocardial contraction by using shape memory alloy fibre

The authors have been developing an artificial myocardium, which is capable of supporting natural contractile function from the outside of the ventricle. The system was originally designed by using sophisticated covalent shape memory alloy fibres, and the surface did not implicate blood compatibility. The purpose of our study on the development of artificial myocardium was to achieve the assistance of myocardial functional reproduction by the integrative small mechanical elements without sensors, so that the effective circulatory support could be accomplished. In this study, the authors fabricated the prototype artificial myocardial assist unit composed of the sophisticated shape memory alloy fibre (Biometal), the diameter of which was 100 microns, and examined the mechanical response by using pulse width modulation (PWM) control method in each unit. Prior to the evaluation of dynamic characteristics, the relationship between strain and electric resistance and also the inditial response of each unit were obtained. The component for the PWM control was designed in order to regulate the myocardial contractile function, which consisted of an originally-designed RISC microcomputer with the input of displacement, and its output signal was controlled by pulse wave modulation method. As a result, the optimal PWM parameters were confirmed and the fibrous displacement was successfully regulated under the different heat transfer conditions simulating internal body temperature as well as bias tensile loading. Then it was indicated that this control theory might be applied for more sophisticated ventricular passive or active restraint by the artificial myocardium on physiological demand.

Morphological Approach for the Functional Improvement of an Artificial Myocardial Assist Device using Shape Memory Alloy Fibres

The authors have been developing a mechano-electric artificial myocardial assist system (artificial myocardium) which is capable of supporting natural contractile functions from the outside of the ventricle without blood contacting surface. In this study, a nano-tech covalent type shape memory alloy fibre (Biometal, Toki Corp, Japan) was employed and the parallel-link structured myocardial assist device was developed. And basic characteristics of the system were examined in a mechanical circulatory system as well as in animal experiments using goats. The contractile functions were evaluated with the mock circulatory system that simulated systemic circulation with a silicone left ventricular model and an aortic afterload. Hemodynamic performance was also examined in goats. Prior to the measurement, the artificial myocardial assist device was installed into the goats thoracic cavity and attached onto the ventricular wall. As a result, the system could be installed successfully without severe complications related to the heating, and the aortic flow rate was increased by 15% and the systolic left ventricular pressure was elevated by 7% under the cardiac output condition of 3L/min in a goat. And those values were elevated by the improvement of the design which was capable of the natural morphological myocardial tissue streamlines. Therefore it was indicated that the effective assistance might be achieved by the contraction by the newly-designed artificial myocardial assist system using Biometal. Moreover it was suggested that the assistance gain might be obtained by the optimised configuration design along with the natural anatomical myocardial stream line.

Assessment of synchronization measures for effective ventricular support by using the shape memory alloy fibred artificial myocardium in goats

Thromboembolic and haemorrhagic complications are the primary causes of mortality and morbidity in patients with artificial hearts, which are known to be induced by the interactions between blood flow and artificial material surfaces. The authors have been developing a new mechanical artificial myocardial assist device by using a sophisticated shape memory alloy fibre in order to achieve the mechanical cardiac support from outside of the heart without a direct blood contacting surface. The original material employed as the actuator of artificial myocardial assist devices was 100um fibred-shaped, which was composed of covalent and metallic bonding structure and designed to generate 4–7 % shortening by Joule heating induced by the electric current input. In this study, we focused on the synchronization of the actuator with native cardiac function, and the phase delay parameter was examined in animal experiments using Saanen goats. Total weight of the device including the actuator was around 150g, and the electric power was supplied transcutaneously. The device could be successfully installed into thoracic cavity, which was able to be girdling the left ventricle. The contraction of the device could be controlled by the originally designed microcomputer. The mechanical contraction signal input had been transmitted with the phase delay of 50–200 msec after the R-wave of ECG, and hemodynamic changes were investigated. Cardiac output and systolic left ventricular pressure were elevated with 20% delay of cardiac cycle by 27% and 7%, respectively, although there was smaller difference under the condition of the delay of over 30%. Therefore, it was suggested that the synchronization measures should be examined in order to achieve sophisticated ventricular passive/active support on physiological demand.

An Innovative Approach to Evaluate a Cardiac Function Based on Surface Measurement

Major function of the heart is to pump blood flow up to all tissues or organs in the body, and it is generally recognized that cardiac function under various diseased conditions are mainly represented by a relationship between blood flow and pressure inside of the heart. In this report, an original proposal of evaluation method on cardiac function is introduced through a simultaneous measurement of various points of cardiac muscular surface. An optical three-dimensional location sensor was employed to measure a displacement change of anatomically specific points on heart surface. Then, changes in strain in each regional surface area were quantitatively obtained. This result indicated similar tendency obtained from echocardiogram. It was also indicated that there was a difference in displacements and phrases between control and arrhythmia. Moreover, strain change in regional area was coincident with a contraction of natural heart. It was found that an attempt to superimpose the data of strain change onto the video images of natural heart was extremely helpful to understand a cardiac function visually

A surgical navigation system for aortic vascular surgery: A practical approach

In aortic vascular surgery, a navigation system must represent the anatomical map of individual patient in order to detect the important artery. To provide a proper fit for positions along the dorsoventral axis, the spinous process was added to a currently used anatomical point set consisting of four anterior body landmarks. In addition, we attempted to reduce the registration error by compensating for alignment errors resulting from variations in tissue thickness at each landmark. The alignment values were examined using a human phantom consisting of a skeleton model with subcutaneous tissue in the semilateral position. Using this method, a phantom simulation and five clinical trials were performed. Target errors were evaluated at the orifice of the intercostal artery. In the phantom simulation, the error at the target point was 4.1 ± 2.7 mm. However, for one patient undergoing thoracoabdominal aortic aneurysm replacement surgery, the target error was 8.0 mm using the proposed method.

Development of a Navigation System Included Correction Method of Anatomical Deformation for Aortic Surgery

The authors have been developing a surgical navigation system for the graft replacement of thoracoab- dominal aortic aneurysm and applied clinically 30 times since July 2006. This system supports surgeons to figure out the patients intercostal level before thoracotomy. However, in the current navigation system, there is a prob- lem that patients postures are different between preoperative CT scanned data and intraoperative real data. In this paper, it is aimed to improve current navigation system to follow global deformation arising from difference of patients postures. And the mathematical method is discussed that matches image space with real space globally by correcting the image. It is assumed that the deformation of thoracic cage is af- fected by the weight of trunk, and that of lumbar is affected by the torsion. To match both spaces, the algorithm that makes image slanted at the thoracic region and rotated at the lumbar region was developed. The angle of inclination for slanting and that of torsion for rotating were calculated from body weight, width of costale and elastic coefficient of bone. This algorithm was evaluated by using MRI images of two volunteers those were scanned in dorsal position and right decubitus position. As a result, fitting between image space and real space decreased by 20% by operating this algorithm. It was concluded that this algorithm is effective to match both spaces. Foreseeable future, this algorithm will use in naviga- tion used in clinical.

Development of Evaluation Test Method for the Possibility of Central Venous Catheter Perforation Caused by the Insertion Angle of a Guidewire and a Dilator

The Seldinger technique is a well-established medical procedure to insert an indwelling device into blood vessel. Although the method is widely performed, various adverse effects due to the procedure have been reported. In order to improve safety, some hospitals originally compiled important reminders based on their experiences in an operation manual. The aim of our research is to provide evidences supporting failure behaviors with a mock system to promote awareness in clinical practice. This paper presents results of a newly developed test method to evaluate the possibility of perforation while inserting the dilator to the cervical vein after the guidewire placement.

Support Mechanism of a Newly-Designed Mechanical Artificial Myocardium using Shape Memory Alloy Fi bres

As the heart failure is caused by the decrease in the myocardial contraction, the direct mechanical myocardial assistance in response to physiological demand, that is, the synchronous support of the contractile function from outside of the heart, might be effective. The purpose of this study was to develop an artificial myocardium which was capable of supporting the cardiac contraction directly by using the shape memory alloy fibres based on nanotechnology. Some methodologies using novel devices other than the artificial hearts are proposed so far with severe heart disease. However, it was also anticipated that the decrease in cardiac functions owing to the diastolic disability might be caused by using those ‘static’ devices. Then, this study was focused on an artificial myocardium using shape memory alloy fibres with a diameter of 100 – 150 um, and the authors examined its mechanism in a mock circulatory system as well as in animal experiments using goats. Basic characteristics of the material were evaluated prior to the hydrodynamic or hemodynamic examination using a mock ventricular model. The results were as follows: a) The length of the structure was able to be adjusted so that the system could wrap the whole heart effectively. b) In the hydrodynamic study using the mock circulatory system, the myocardial system was able to pump a flow against the afterload of arterial pressure level. c) In the animal experiments, aortic pressure and flow rate were elevated by 7 and 15% respectively by the mechanical assistance of the artificial myocardium, which was driven synchronising with the electrocardiogram, and also, d) The anatomically-identical shape of the artificial myocardium might be more effective for the assistance. In conclusion, it was indicated that this controllable artificial myocardial support system was effective for the mechanical cardiac support for the chronic heart failure.