Background: HeartLander is a tethered robot walker that utilizes suction to adhere to the beating heart. HeartLander can be used for minimally invasive administration of cardiac medications or ablation of tissue. In order to administer injections safely, HeartLander must avoid coronary vasculature.Methods: Doppler ultrasound signals were recorded using a custom-made cardiac phantom and used to classify different coronary vessel properties. The classification was performed by two machine learning algorithms, the support vector machines and a deep convolutional neural network. These algorithms were then validated in animal trials.Results: Accuracy of identifying vessels above turbulent flow reached greater than 92% in phantom trials and greater than 98% in animal trials. Conclusions:Through the use of two machine learning algorithms, HeartLander has shown the ability to identify different sized vasculature proximally above turbulent flow. These results indicate that it is feasible to use Doppler ultrasound to identify and avoid coronary vasculature during cardiac interventions using HeartLander.

Ultrasound-guided injection is a widely used technique, however, it takes substantial amounts of time for novices to master the skill. The most critical issue to improve the accuracy of the injection is to align the needle with the scan plane of the ultrasound beam and orient the needle angle after piercing skin to aim at the targeted tissue. In the present study, we developed a two-dimensional laser align device to assist physicians to accurately position the needle in the scan plane and advance it at an angle correctly pointing to the target. The device is inexpensive, light-weighted, and easy to fabricate and accommodate for any types of ultrasound probe. Statistical analysis revealed that the assistance with our device significantly reduced the successful targeting time and times of retargeting in comparison with the traditional freehand approach or only with in-plane assistance for inexperience subjects. Our results indicate that the device exhibits great potential in effectively reducing the learning time to master the skill and speeding up the procedure for ultrasound-guided injection.