Search for: beating-heart-surgery
Design, Fabrication, and Experimental Study of a Flexible Cardiac Stabilizer for Beating Heart Robotic Surgery, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam
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...
Article Biomedical Signal Processing and Control ; Volume 45 , 2018 , Pages 256-266 ; 17468094 (ISSN) ; Salarieh, H ; Behzadipour, S ; Tavakoli, M ; Sharif University of Technology
Elsevier Ltd 2018
A bilateral impedance controller is presented to enable robot-assisted surgery of a beating heart. For this purpose, two desired impedance models are designed and realized for the master and slave robots interacting with the operator (surgeon) and the environment (heart tissue), respectively. The impedance models are designed such that (a) the slave robot complies with the oscillatory motion of the beating heart and (b) the surgeon perceives the non-oscillatory portion of the slave/heart contact force at the master robot implying arrested-heart surgery. These performance goals are achieved via appropriate adjustment of the impedance model parameters without any measurement or estimation of...
Ph.D. Dissertation Sharif University of Technology ; Farahmand, Farzam ; Vossoughi, Gholamreza
An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future heart trajectory with a high accuracy in a long horizon. The main objective of this research was measurement and prediction of the heart motion for robotic assisted beating heart surgery. In this study, first the feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator. Simulator experiments revealed a high tracking accuracy when the capturing times were synchronized and the tracker pointed at the target from an appropriate distance.Then, the heart...
Design, Analysis, and Experimental Study of a Slave Robot for Minimally Invasive Beating Heart Surgery, Ph.D. Dissertation Sharif University of Technology ; Farahmand, Farzam
In this study, a practical approach for robotic beating heart surgery was proposed. This approach eliminates lateral movements of the heart and compensates for normal heart movement by using 1 DOF heart stabilizer and 1 DOF heart compensator simultaneously. It is a compromise between complete fixation of the heart, which damages the heart tissue, on one hand and complex and impractical compensation of the free heart movement on the other. One of the core components of the proposed system is the slave robot, which includes a 1 DOF compensator and a 4 DOF tool holder robot. Based on the selected laparoscopic tool, a modified agile-eye mechanism for activating the wrist was introduced,...
A hybrid algorithm for prediction of varying heart rate motion in computer-assisted beating heart surgery, Article Journal of Medical Systems ; Volume 42, Issue 10 , 2018 ; 01485598 (ISSN) ; Farahmand, F ; Vossoughi, G ; Alizadeh Ghavidel, A ; Sharif University of Technology
Springer New York LLC 2018
An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future trajectory of the heart in the varying heart rate (HR) conditions of real surgery with a high accuracy. In this study, a hybrid amplitude modulation- (AM) and autoregressive- (AR) based algorithm was developed to enable estimating the global and local oscillations of the beating heart, raised from its major and minor physiological activities. The AM model was equipped with an estimator of the heartbeat frequency to compensate for the HR variations. The RMS of the prediction errors of the hybrid algorithm was in the range of 165–361 μm for the...
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
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...
Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 14, Issue 1 , February , 2018 ; 14785951 (ISSN) ; Farahmand, F ; Vossoughi, G ; Ghavidel, A. A ; Rezayat, M ; Sharif University of Technology
John Wiley and Sons Ltd 2018
Background: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. Method: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. Results: Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance. The animal experiment revealed the applicability of the infrared tracker with passive markers in practical heart surgery conditions. Conclusion: With the current technology,...