title: A novel virtual reality environment for preoperative planning and simulation of image guided intracardiac surgeries with robotic manipulators.
abstract: The evolution of image-guided and robot-assisted procedures can be beneficial to intracardiac interventions. This paper proposes a novel approach and a virtual reality system for preoperative planning and intraoperative guidance of cardiac procedures, and for investigating the kinematics and control of a virtual robotic manipulator, based on MRI CINE images. The system incorporates dedicated software modules for processing MR images, generating dynamic trajectories in the continuously changing environment of a beating heart, controlling a specific generic virtual manipulator along those trajectories, and a virtual reality interface that fuses all those information. The proposed system is applied for the simulation of accessing the aortic valve annulus via a small incision on the apex by maneuvering a robotic manipulator through an access corridor that safely transverses the left ventricle (LV) of the beating heart.
authors.affiliation: Medical Robotics Lab, Department of Computer Science, University of Houston, Houston, TX 77204, USA.
authors.forename: Erol
authors.initials: E
authors.lastname: Yeniaras
authors.forename: Zhigang
authors.initials: Z
authors.lastname: Deng
authors.forename: Mushabbar A
authors.initials: MA
authors.lastname: Syed
authors.forename: Mark G
authors.initials: MG
authors.lastname: Davies
authors.forename: Nikolaos V
authors.initials: NV
authors.lastname: Tsekos
mesh_terms: D006348:Cardiac Surgical Procedures / Q000379:methods*; D003198:Computer Simulation; D003194:Computer-Assisted Instruction / Q000379:methods*; D006801:Humans; D019028:Magnetic Resonance Imaging, Cine / Q000379:methods*; D008955:Models, Cardiovascular; D011300:Preoperative Care / Q000379:methods; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014584:User-Computer Interface