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    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) Mansouri, S ; Farahmand, F ; Vossoughi, G ; Alizadeh Ghavidel, A ; Sharif University of Technology
    Springer New York LLC  2018
    Abstract
    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) Mansouri, S ; 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... 

    Feasibility of infrared tracking of beating heart motion for robotic assisted beating heart surgery

    , Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 14, Issue 1 , February , 2018 ; 14785951 (ISSN) Mansouri, S ; Farahmand, F ; Vossoughi, G ; Ghavidel, A. A ; Rezayat, M ; Sharif University of Technology
    John Wiley and Sons Ltd  2018
    Abstract
    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,...