Abstract
Minimally invasive mitral valve (MV) repair surgery significantly reduces trauma compared to an open heart procedure, which enables fast recovery and treatment to high-risk patients. However, limited vision and dexterity of the instrument at the treatment location poses a challenge for minimally invasive surgery. Additionally, MV repair surgery performed without cardiopulmonary bypass often requires the surgeon to deal with beating heart motions. By autonomous stabilization of the instrument, a virtually-still treatment location could be provided. This allows the surgeon to perform surgery as if the heart was stopped. In this study, we present and evaluate a framework that assists the surgeon by stabilizing the instrument for the beating heart MV motions. Our work contributes a robotically-actuated delivery sheath (RADS), which is stabilized in a realistic and functional MV model embedded in a heart motion system. The heart motion system is mounted on a six degrees-of-freedom Stewart platform, which reproduces beating heart MV motions based on pre-operative patient data obtained from three-dimensional magnetic resonance and ultrasound images. Experimental results shows stabilization of the RADS in a beating heart MV model with a mean absolute tracking error of 1.31 mm. The presented framework for stabilization of the RADS in the beating heart could be applicable to a wide variety of existing and potential future cardiovascular interventions.
Original language | English |
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Title of host publication | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics |
Editors | S. Kukreja, L. Masia |
Place of Publication | Piscataway, NJ |
Publisher | IEEE |
Pages | 73-79 |
ISBN (Electronic) | 978-1-5090-3287-7 |
ISBN (Print) | 978-1-5090-3288-4 |
DOIs | |
Publication status | Published - 24 Jun 2016 |
Event | 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - University Town, Singapore, Singapore, Singapore Duration: 26 Jun 2016 → 29 Jun 2016 Conference number: 6 http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics |
Publication series
Name | 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) |
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Publisher | IEEE |
Volume | 2016 |
ISSN (Print) | 2155-1774 |
ISSN (Electronic) | 2155-1782 |
Conference
Conference | 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 |
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Abbreviated title | BioRob 2016 |
Country/Territory | Singapore |
City | Singapore |
Period | 26/06/16 → 29/06/16 |
Internet address |
Keywords
- 22/2 OA procedure
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Best Paper Award BioRob 2016
Vrooijink, G. J. (Recipient), Jansen, M. P. (Recipient), Tolhuisen, M. L. (Recipient), Grandjean, J. G. (Recipient) & Misra, S. (Recipient), 29 Jun 2016
Prize