Loading...

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

Mansouri, S ; Sharif University of Technology | 2018

2004 Viewed
  1. Type of Document: Article
  2. DOI: 10.1002/rcs.1869
  3. Publisher: John Wiley and Sons Ltd , 2018
  4. Abstract:
  5. 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, infrared tracking with passive markers might be the optimal solution for accurate, fast, and reliable tracking of heart motion during robot assisted beating heart surgery. Copyright © 2017 John Wiley & Sons, Ltd
  6. Keywords:
  7. Accuracy assessment ; Heart motion simulator ; Heart motion tracking ; In vivo animal experiment ; Infrared tracker ; Amplitude modulation ; Animal experiment ; Animal model ; Article ; Controlled study ; Dog ; Electrosurgery ; Heart beat ; Heart surgery ; Image processing ; In vivo study ; Infrared radiation ; Light scattering ; Male ; Measurement accuracy ; Nonhuman ; Robot assisted surgery ; Systematic error ; Thoracotomy ; Algorithm ; Anatomic model ; Animal ; Computer assisted surgery ; Equipment design ; Feasibility study ; Heart ; Human ; Motion ; Physiology ; Reproducibility ; Robotic surgical procedure ; Three dimensional imaging ; Algorithms ; Animals ; Cardiac Surgical Procedures ; Computer Simulation ; Dogs ; Feasibility Studies ; Humans ; Imaging, Three-Dimensional ; Models, Anatomic ; Reproducibility of results ; Robotic surgical procedures ; Surgery, computer-assisted
  8. Source: International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 14, Issue 1 , February , 2018 ; 14785951 (ISSN)
  9. URL: https://onlinelibrary.wiley.com/doi/full/10.1002/rcs.1869