Sharif Digital Repository

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... 

Biomechanical forces and hemodynamic factors influence the blood flow and the endothelial cells (ECs) morphology. These factors behave differently beyond the coronary artery stenosis. In the present study, unsteady blood flow in the left coronary artery (LCA) and its atherosclerotic bifurcating vessels, left anterior descending (LAD) and left circumflex (LCX) arteries, were numerically simulated to investigate the risk of plaque length development and secondary plaque formation in the post-stenotic areas. Using fluid–structure interaction (FSI) model, compliance of arterial wall and vessel curvature variations due to cardiac motion were considered. The arteries included plaques at the... 

Biomechanical forces and hemodynamic factors influence the blood flow and the endothelial cells (ECs) morphology. These factors behave differently beyond the coronary artery stenosis. In the present study, unsteady blood flow in the left coronary artery (LCA) and its atherosclerotic bifurcating vessels, left anterior descending (LAD) and left circumflex (LCX) arteries, were numerically simulated to investigate the risk of plaque length development and secondary plaque formation in the post-stenotic areas. Using fluid–structure interaction (FSI) model, compliance of arterial wall and vessel curvature variations due to cardiac motion were considered. The arteries included plaques at the... 

Background and Objective: Blood flow variation during cardiac cycle is the main mechanism of atherosclerotic development which is dependent on. Methods: The present work mainly tends to investigate stenosis effect in dynamic curvature of coronary artery. This paper presents numerical investigations on wall shear stress profiles in three-dimensional pulsatile flow through curved stenotic coronary arteries for both static and dynamic model. In order to do so, three-dimensional models related to the curved arteries with two degrees of stenosis (30% and 50%). Results: Lower amount of wall shear stress is found near the inner wall of artery distal to the plaque region (stenosis) and in both... 

The currently available robotic systems rely on rigid heart stabilizers to perform totally endoscopic coronary artery bypass (TECAB) surgery on beating hearts. Although such stabilizers facilitate the anastomosis procedure by immobilizing the heart and holding the surgery site steady, they can cause damage to the heart tissue and rupture of the capillary vessels, due to applying relatively large pressures on the epicardium. In this paper, we propose an advanced robotic approach to perform TECAB on a beating heart with minimal invasiveness. The idea comes from the fact that the main pulsations of the heart occur as excursions in normal direction, i.e., perpendicular to the heart surface. We... 

In this paper a variational framework for joint segmentation and motion estimation is employed for inspecting heart in Cine MRI sequences. A functional including Mumford-Shah segmentation and optical flow based dense motion estimation is approximated using the phase-field technique. The minimizer of the functional provides an optimum motion field and edge set by considering both spatial and temporal discontinuities. Exploiting calculus of variation principles, multiple partial differential equations associated with the Euler-Lagrange equations of the functional are extracted, first. Next, the finite element method is used to discretize the resulting PDEs for numerical solution. Several... 

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... 

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...