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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... 

    Review on different experimental techniques developed for recording force-deformation behaviour of soft tissues; with a view to surgery simulation applications

    , Article Journal of Medical Engineering and Technology ; Volume 41, Issue 4 , 2017 , Pages 257-274 ; 03091902 (ISSN) Afshari, E ; Rostami, M ; Farahmand, F ; Sharif University of Technology
    Abstract
    Different experimental techniques which have been developed to obtain data related to force-deformation behaviour of soft tissues play an important role in realistically simulating surgery processes as well as medical diagnoses and minimally invasive procedures. Indeed, an adequate quantitative description of soft-tissue-mechanical-behaviour requires high-quality experimental data to be obtained and analysed. In this review article we will first scan the motivations and basic technical issues on surgery simulation. Then, we will concentrate on different experimental techniques developed for recording force-deformation (stress-strain) behaviour of soft tissues with focussing on the in-vivo... 

    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) Alamdar, A ; Hanife, S ; Farahmand, F ; Behzadipour, S ; Mirbagheri, A ; Sharif University of Technology
    Churchill Livingstone  2019
    Abstract
    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... 

    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,... 

    Objective measurement of inferior-directed stiffness in glenohumeral joint using a specially designed robotic device in healthy shoulders; within- and between-session reliability

    , Article Journal of Biomechanics ; Volume 127 , 2021 ; 00219290 (ISSN) Azarsa, M. H ; Mirbagheri, A. R ; Hosseini, R ; Shadmehr, A ; Karimi, N ; Sharif University of Technology
    Elsevier Ltd  2021
    Abstract
    Clinical assessment of capsuloligamentous structures of the glenohumeral joint has been qualitative and subjective in nature, as demonstrated by limited intra- and inter-rater reliability. Robotic devices were utilized to develop a clinically objective measurement technique for glenohumeral joint stiffness. The purpose of this study was to quantify the amount of inferior-direction stiffness of the glenohumeral joint using a safe clinical device in the asymptomatic individuals, and to determine between trial and between session reliability of the robotic device. Twenty healthy subjects were recruited via convenience sampling. Inferior-directed translation and applying force were measured...