Search for: heart-motion
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...
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...
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,...
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 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...
Atheroprone sites of coronary artery bifurcation: Effect of heart motion on hemodynamics-dependent monocytes deposition, Article Computers in Biology and Medicine ; Volume 133 , 2021 ; 00104825 (ISSN) ; Firoozabadi, B ; Saidi, M. S ; Sharif University of Technology
Elsevier Ltd 2021
Atherosclerosis as a common cardiovascular disease is a result of both adverse hemodynamics conditions and monocyte deposition within coronary arteries. It is known that the adhesion of monocytes on the arterial wall and their interaction with the vascular surface are one of the main parameters in the initiation and progression of atherosclerosis. In this work, hemodynamic parameters and monocyte deposition have been investigated in a 3D computational model of the Left Anterior Descending coronary artery (LAD) and its ﬁrst diagonal branch (D1) under the heart motion. A one-way Lagrangian approach is performed to trace the monocyte particles under different blood flow regimes and heart motion...