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Design, Fabrication, and Experimental Study of a Flexible Cardiac Stabilizer for Beating Heart Robotic Surgery
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
A popular way for performing minimally invasive heart surgery is to use cardiac stabilizers that fix the heart during surgery. In the recent years several research works have been conducted to develop effective cardiac stabilizers. While these developments have attempted to improve fixation of the heart, there are reports indicating that a rigid cardiac stabilization may induce injury to heart muscle tissues due to restricting the heart motion in all directions. A more efficient approach than rigid cardiac stabilization might be to use a flexible cardiac stabilizer in combination with a surgical robot having motion compensation capability. The scope of this research is designing a device to...
A comprehensive multimodality heart motion prediction algorithm for robotic-assisted beating heart surgery
, Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 15, Issue 2 , 2019 ; 14785951 (ISSN) ; Farahmand, F ; Vossoughi, G ; Alizadeh Ghavidel, A ; Sharif University of Technology
John Wiley and Sons Ltd
2019
Abstract
Background: An essential requirement for performing robotic-assisted surgery on a freely beating heart is a prediction algorithm that can estimate the future heart trajectory. Method: Heart motion, respiratory volume (RV) and electrocardiogram (ECG) signal were measured from two dogs during thoracotomy surgery. A comprehensive multimodality prediction algorithm was developed based on the multivariate autoregressive model to incorporate the heart trajectory and cardiorespiratory data with multiple inherent measurement rates explicitly. Results: Experimental results indicated strong relationships between the dominant frequencies of heart motion with RV and ECG. The prediction algorithm...