title: Robotic tissue tracking for beating heart mitral valve surgery.
abstract: The rapid motion of the heart presents a significant challenge to the surgeon during intracardiac beating heart procedures. We present a 3D ultrasound-guided motion compensation system that assists the surgeon by synchronizing instrument motion with the heart. The system utilizes the fact that certain intracardiac structures, like the mitral valve annulus, have trajectories that are largely constrained to translation along one axis. This allows the development of a real-time 3D ultrasound tissue tracker that we integrate with a 1 degree-of-freedom (DOF) actuated surgical instrument and predictive filter to devise a motion tracking system adapted to mitral valve annuloplasty. In vivo experiments demonstrate that the system provides highly accurate tracking (1.0 mm error) with 70% less error than manual tracking attempts.
authors: Harvard School of Engineering and Applied Sciences, 29 Oxford Street, Cambridge, MA 02138, USA.
authors: Shelten G
authors: SG
authors: Yuen
authors: Nikolay V
authors: NV
authors: Vasilyev
authors: Pedro J
authors: PJ
authors: del Nido
authors: Robert D
authors: RD
authors: Howe
mesh_terms: D000818:Animals; D019560:Echocardiography, Three-Dimensional / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D058386:Mitral Valve Annuloplasty / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013552:Swine; D019616:Thoracic Surgical Procedures / Q000295:instrumentation*
keywords: 3D ultrasound; Beating heart surgery; Medical robotics; Motion compensation; Real-time tissue tracking
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