Heart motion measurement with three dimensional sonomicrometry and acceleration sensing

Localization of Point-of-Interest Positions on Cardiac Surface for Robotic-Assisted Beating Heart Surgery

One of the critical components of robotic-assisted beating heart surgery is precise localization of a point-of-interest (POI) position on cardiac surface, which needs to be tracked by the robotic instruments. This is challenging as the incoming sensor measurements, from which POI position is localized, might be noisy and incomplete. This paper presents two Bayesian filtering based localization approaches to localize POI position online from sonomicrometer measurements. Specifically, extended Kalman filter (EKF) and particle filter (PF) localization algorithms are explored to estimate the state of POI position. The estimations of upcoming heart motion generated by the generalized adaptive predictor, which is demonstrated in the authors' past work, are also incorporated to generate an improved motion model. The proposed methods are validated with prerecorded in-vivo heart motion data.

The effect of metritis and subclinical hypocalcemia on uterine involution in dairy cows evaluated by sonomicrometry

The objective of this study was to examine the effects of metritis and subclinical hypocalcemia on reduction of uterine size in dairy cows using ultrasonography and sonomicrometry. Four piezoelectric crystals were implanted via laparotomy into the myometrium of the pregnant uterine horn of 12 pluriparous Holstein Friesian cows 3 weeks before the calculated calving date. Sonometric measurements were conducted daily from 2 days before parturition (= Day 0) until Day 14 after calving and then every other day until Day 28. Distances between adjacent crystals were expressed in relation to reference values obtained before calving. The diameter of the formerly pregnant uterine horn was measured using transrectal B-Mode sonography starting on Day 10. Cows were retrospectively divided into the following groups: cows without metritis (M-; n = 7), cows with metritis (M+; n = 5), cows with normocalcemia (SH-; Ca > 2.0 mmol/l on Days 1 to 3; n = 5) and cows with subclinical hypocalcemia (SH+; Ca < 2.0 mmol/l in at least one sample between Days 1 and 3; n = 7). Metritis did not affect (P > 0.05) sonometric measurements, but the diameter of the formerly pregnant horn was larger (P ≤ 0.05) between Days 15 and 21 in M+ cows than in M‒ cows. Reduction in uterine length in hypocalcemic cows was delayed (P ≤ 0.05) between Days 8 and 21 compared with normocalcemic cows, but the uterine horn diameter was not related to calcium status. In conclusion, both diseases affected reduction of uterine size until Day 28. Cows with metritis had a larger uterine diameter, possibly attributable to accumulation of lochia, and cows with subclinical hypocalcemia had delayed reduction of uterine length, presumably related to reduction of myometrial contractility.