Search for: off-pump-surgery
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...
A minimally invasive robotic surgery approach to perform totally endoscopic coronary artery bypass on beating hearts, Article Medical Hypotheses ; Volume 124 , 2019 , Pages 76-83 ; 03069877 (ISSN) ; Hanife, S ; Farahmand, F ; Behzadipour, S ; Mirbagheri, A ; Sharif University of Technology
Churchill Livingstone 2019
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...
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...