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Nicht-invasives, nicht-ionisierendes funktionelles Neuroimaging mit räumlich und zeitlich hochauflösender Elektroenzephalographie oder Echtzeit-Naheinfrarotspektroskopie in Kombination mit modernen Robotorsystemen ist ein entscheidender Entwicklungsschritt auf dem Gebiet der Neuroprothetik und Brain-Machine-Interfaces. In der Medizintechnik an der Hochschule Offenburg wird hierzu geforscht.
The need to measure basic aerosol parameters has increased dramatically in the last decade. This is due mainly to their harmful effect on the environment and on public health. Legislation requires that particle emissions and ambient levels, workplace particle concentrations and exposure to them are measured to confirm that the defined limits are met and the public is not exposed to harmful concentrations of aerosols.
Die in dieser Arbeit vorgestellte Vorgehensweise erlaubt die Ortung von Schienenfahrzeugen in topologischen Karten allein mit Hilfe eines Wirbelstromsensorsystems (WSS). Zur Ortung primär erforderlich ist die Identifizierung des befahrenen Gleises selbst, wofür unterschiedliche in einer Karte gespeicherte Merkmale herangezogen werden sowie der zurückgelegte Weg, der durch Zählen der passierten Schwellen ermittelt wird. Diese Merkmale werden mittels eigens definierter, virtueller Sensoren aus dem Signal des WSS gewonnen und mittels einem Bayes’schen Formalismus mit den Referenzdaten aus der vorliegenden topologischen Karte abgeglichen. Diese auf virtuellen Sensoren basierende Vorgehensweise erlaubt eine Parallelisierung der Sensorsignalverarbeitung und eine flexible Einbindung von Sensoren in das Ortungssystem. Die Möglichkeit, Weichen mit einer Trefferquote von 99% zu detektieren, erlaubt die Verfolgung der Fahrzeugposition über die gesamte Fahrstrecke hinweg, unter alleiniger Verwendung der vom WSS gelieferten Messdaten.
Für die genaue Positionsbestimmung in Innenräumen, beispielsweise in Bahnhöfen oder Einkaufszentren, soll in dem beschriebenen Projekt untersucht werden, inwiefern lokale Magnetfelder genutzt werden können, um Genauigkeit und Robustheit zu erhöhen. Hierzu wird untersucht, ob und wie kostengünstige Magnetfeldsensoren und mobile Roboterplattformen genutzt werden können, um Karten zu erstellen, die eine spätere Navigation, beispielsweise mit Smartphones oder mit anderen mobilen Geräten.
In this paper we show that a model-free approach to learn behaviors in joint space can be successfully used to utilize toes of a humanoid robot. Keeping the approach model-free makes it applicable to any kind of humanoid robot, or robot in general. Here we focus on the benefit on robots with toes which is otherwise more difficult to exploit. The task has been to learn different kick behaviors on simulated Nao robots with toes in the RoboCup 3D soccer simulator. As a result, the robot learned to step on its toe for a kick that performs 30% better than learning the same kick without toes.
Cellular phone antennas are generally designed to have radiation patterns that are as omnidirectional as possible. Omnidirectional antennas allow a phone’s radio to work well for many orientations of the phone with respect to the cellular base station. Recent studies, however, are generating uncertainty about the health effects of prolonged exposure to electromagnetic (EM) radiation from cellular phones. In this paper, an antenna array is designed primarily to minimize users’ exposure to EM radiation. The antenna comprises a beamforming 4 by 3 array of microstrip patch antennas that is controlled by an accelerometer-only inertial navigation system. The proposed design reduces radiated power directed toward the user to below 10% of the total in the worst case.
Background: The electrical field (E-field) of the biventricular (BV) stimulation is important for the success of cardiac resynchronization therapy (CRT) in patients with cardiac insufficiency and widened QRS complex. The 3D modeling allows the simulation of CRT and high frequency (HF) ablation.
Purpose: The aim of the study was to model different pacing and ablation electrodes and to integrate them into a heart model for the static and dynamic simulation of atrial and BV stimulation and high frequency (HF) ablation in atrial fibrillation (AF).
Methods: The modeling and simulation was carried out using the electromagnetic simulation software CST (CST Darmstadt). Five multipolar left ventricular (LV) electrodes, one epicardial LV electrode, four bipolar right atrial (RA) electrodes, two right ventricular (RV) electrodes and one HF ablation catheter were modeled. Selected electrodes were integrated into the Offenburg heart rhythm model for the electrical field simulation. The simulation of an AV node ablation at CRT was performed with RA, RV and LV electrodes and integrated ablation catheter with an 8 mm gold tip.
Results: The right atrial stimulation was performed with an amplitude of 1.5 V with a pulse width of 0.5. The far-field potentials generated by the atrial stimulation were perceived by the right and left ventricular electrode. The far-field potential at a distance of 1 mm from the right ventricular electrode tip was 36.1 mV. The far-field potential at a distance of 1 mm from the left ventricular electrode tip was measured with 37.1 mV. The RV and LV stimulation were performed simultaneously at amplitude of 3 V at the LV electrode and 1 V at the RV electrode with a pulse width of 0.5 ms each. The far-field potentials generated by the BV stimulations could be perceived by the RA electrode. The far-field potential at the RA electrode tip was 32.86 mV. AV node ablation was simulated with an applied power of 5 W at 420 kHz and 10 W at 500 kHz at the distal 8 mm ablation electrode.
Conclusions: Virtual heart and electrode models as well as the simulations of electrical fields and temperature profiles allow the static and dynamic simulation of atrial synchronous BV stimulation and HF ablation at AF. The 3D simulation of the electrical field and temperature profile may be used to optimize the CRT and AF ablation.
Spectral analysis of signal averaging electrocardiography in atrial and ventricular tachyarrhythmias
(2017)
Background: Targeting complex fractionated atrial electrograms detected by automated algorithms during ablation of persistent atrial fibrillation has produced conflicting outcomes in previous electrophysiological studies. The aim of the investigation was to evaluate atrial and ventricular high frequency fractionated electrical signals with signal averaging technique.
Methods: Signal averaging electrocardiography (ECG) allows high resolution ECG technique to eliminate interference noise signals in the recorded ECG. The algorithm uses automatic ECG trigger function for signal averaged transthoracic, transesophageal and intracardiac ECG signals with novel LabVIEW software (National Instruments, Austin, Texas, USA). For spectral analysis we used fast fourier transformation in combination with spectro-temporal mapping and wavelet transformation for evaluation of detailed information about the frequency and intensity of high frequency atrial and ventricular signals.
Results: Spectral-temporal mapping and wavelet transformation of the signal averaged ECG allowed the evaluation of high frequency fractionated atrial signals in patients with atrial fibrillation and high frequency ventricular signals in patients with ventricular tachycardia. The analysis in the time domain evaluated fractionated atrial signals at the end of the signal averaged P-wave and fractionated ventricular signals at the end of the QRS complex. The analysis in the frequency domain evaluated high frequency fractionated atrial signals during the P-wave and high frequency fractionated ventricular signals during QRS complex. The combination of analysis in the time and frequency domain allowed the evaluation of fractionated signals during atrial and ventricular conduction.
Conclusions: Spectral analysis of signal averaging electrocardiography with novel LabVIEW software can utilized to evaluate atrial and ventricular conduction delays in patients with atrial fibrillation and ventricular tachycardia. Complex fractionated atrial electrograms may be useful parameters to evaluate electrical cardiac arrhythmogenic signals in atrial fibrillation ablation.
Heart rhythm model and simulation of electrophysiological studies and high-frequency ablations
(2017)
Background: Target of the study was to create an accurate anatomic CAD heart rhythm model, and to show its usefulness for cardiac electrophysiological studies and high-frequency ablations. The method is more careful for the patients’ health and has the potential to replace clinical studies due to its high efficiency regarding time and costs.
Methods: All natural heart components of the new HRM were based on MRI records, which guaranteed electronic functionality. The software CST was used for the construction, while CST’s material library assured genuine tissue properties. It should be applicable to simulate different heart rhythm diseases as well as various diffusions of electromagnetic fields, caused by electrophysiological conduction, inside the heart tissue.
Results: It was achievable to simulate sinus rhythm and fourteen different heart rhythm disturbance with different atrial and ventricular conduction delays. The simulated biological excitation of healthy and sick HRM were plotted by simulated electrodes of four polar right atrial catheter, six polar His bundle catheter, ten polar coronary sinus catheter, four polar ablation catheter and eight polar transesophageal left cardiac catheter. Accordingly, six variables were rebuilt and inserted into the anatomic HRM in order to establish heart catheters for ECG monitoring and HF ablation. The HF ablation catheters made it possible to simulate various types of heart rhythm disturbance ablations with different HF ablation catheters and also showed a functional visualisation of tissue heating. The use of tetrahedral meshing HRM made it attainable to store the results faster accompanied by a higher degree of space saving. The smart meshing function reduced unnecessary high resolutions for coarse structures.
Conclusions: The new HRM for EPS simulation may be additional useful for simulation of heart rhythm disturbance, cardiac pacing, HF ablation and for locating and identification of complex fractioned signals within the atrium during atrial fibrillation HF ablation.
Die Entwicklung von neuartigen Elektrodentypen und die Weiterentwicklung bestehender Produkten machen einen großen Teil der entstehenden Kosten für ein Unternehmen aus. Mithilfe geeigneter Software können Änderungen der Konstruktionen erfasst und bestimmte Simulationen, bspw. das Auftreten von Wechselwirkungen im elektrischen Feld, vor der eigentlichen Prototypenerstellung durchgeführt werden. Das Ziel der Studie besteht in der Modellierung unterschiedlicher Schrittmacher- und Ablationselektroden und deren Integration in das Offenburger Herzrhythmusmodell (HRM) zur statischen und dynamischen Simulation der biventrikulären Stimulation und HF Ablation bei Vorhofflimmern (AF).
Die Simulation komplexer kardialer Strukturen und kardialer Elektroden ist von Bedeutung für die Optimierung langatmiger und kostspieliger klinischer Studien. Das Risiko der Patientengefährdung wird durch diese Methode auf ein Minimum reduziert. Das Ziel der Studie besteht im Entwurf eines anatomisch korrekten 3D CAD Herzrhythmusmodells (HRM) zur Simulation von elektrophysiologischen Untersuchungen (EPU) und Hochfrequenz-(HF-)Ablationen.
Background: Cardiac resynchronization therapy (CRT) with biventricular (BV) pacing is an established therapy for heart failure (HF) patients (P) with sinus rhythm, reduced left ventricular (LV) ejection fraction (EF) and electrical ventricular desynchronization. The aim of the study was to evaluate electrical interventricular delay (IVD) and left ventricular delay (LVD) in right ventricular (RV) pacemaker pacing before upgrading to CRT BV pacing.
Methods: HF P (n=11, age 69.0 ± 7.9 years, 1 female, 10 males) with DDD pacemaker (n=10), DDD defibrillator (n=1), RV pacing, New York Heart Association (NYHA) class 3.0 ± 0.2 and 24.5 ± 4.9 % LVEF were measured by surface ECG and transesophageal bipolar LV ECG before upgrading to CRT defibrillator (n=8) and CRT pacemaker (n=3). IVD was measured between onset of QRS in the surface ECG and onset of LV signal in the transesophageal ECG. LVD was measured between onset and offset of LV signal in the transesophageal ECG. CRT atrioventricular (AV) and BV pacing delay were optimized by impedance cardiography.
Results: Interventricular and intraventricular desynchronization in RV pacemaker pacing were 228.2 ± 44.8 ms QRS duration, 86.5 ± 32.8ms IVD, 94.4 ± 23.8ms LVD, 2.6 ± 0.8 QRS-IVD-ratio with correlation between IVD and QRS-IVD-ratio (r=-0.668 P=0.0248) and 2.3 ± 0.7 QRS-LVD-ratio. The LVEF-IVD-ratio was 0.3 ± 0.1 with correlation between IVD and LVEF-IVD-ratio (r=-0.8063 P=0.00272) and with correlation between QRS duration and LVEF-IVD-ratio (r=-0.7251 P=0.01157). Optimal sensing and pacing AV delay were 128.3 ± 24.8 ms AV delay after atrial sensing (n=6) and 173.3 ± 40.4 ms AV delay after atrial pacing (n=3). Optimal BV pacing delay was -4.3 ± 11.3 ms between LV and RV pacing (n=7). During 30.4 ± 29.6 month CRT follow-up, the NYHA class improved from 3.1 ± 0.2 to 2.2 ± 0.3.
Conclusions: Transesophageal electrical IVD and LVD in RV pacemaker pacing may be additional useful ventricular desynchronization parameters to improve P selection for upgrading RV pacemaker pacing to CRT BV pacing.
Background: The electrical field (E-field) of the biventricular (BV) stimulation is essential for the success of cardiac resynchronization therapy (CRT) in patients with cardiac insufficiency and widened QRS complex. 3D modeling allows the simulation of CRT and high frequency (HF) ablation.
Purpose: The aim of the study was to model different pacing and ablation electrodes and to integrate them into a heart model for the static and dynamic simulation of BV stimulation and HF ablation in atrial fibrillation (AF).
Methods: The modeling and simulation was carried out using the electromagnetic simulation software. Five multipolar left ventricular (LV) electrodes, one epicardial LV electrode, four bipolar right atrial (RA) electrodes, two right ventricular (RV) electrodes and one HF ablation catheter were modeled. Different models of electrodes were integrated into a heart rhythm model for the electrical field simulation (fig.1). The simulation of an AV node ablation at CRT was performed with RA, RV and LV electrodes and integrated ablation catheter with an 8 mm gold tip.
Results: The RV and LV stimulation were performed simultaneously at amplitude of 3 V at the LV electrode and 1 V at the RV electrode, each with a pulse width of 0.5 ms. The far-field potentials generated by the BV stimulations were perceived by the RA electrode. The far-field potential at the RA electrode tip was 32.86 mV. A far-field potential of 185.97 mV resulted at a distance of 1 mm from the RA electrode tip. AV node ablation was simulated with an applied power of 5 W at 420 kHz at the distal 8 mm ablation electrode. The temperature at the catheter tip was 103.87 ° C after 5 s ablation time, 44.17 ° C from the catheter tip in the myocardium and 37.61 ° C at a distance of 2 mm. After 10 s, the temperature at the three measuring points described above was 107.33 ° C, 50.87 ° C, 40.05 ° C and after 15 seconds 118.42 ° C, 55.75 ° C and 42.13 ° C.
Conclusions: Virtual heart and electrode models as well as the simulations of electrical fields and temperature profiles allow the static and dynamic simulation of atrial synchronous BV stimulation and HF ablation at AF. The 3D simulation of the electrical field and temperature profile may be used to optimize the CRT and AF ablation.