Ultrasound-guided stabilization of a robotically-actuated delivery sheath (RADS) for beating heart mitral valve motions

Gustaaf J. Vrooijink, Mylène P. Jansen, Manon L. Tolhuisen, Jan G. Grandjean, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
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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 languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
EditorsS. Kukreja, L. Masia
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages73-79
ISBN (Electronic)978-1-5090-3287-7
ISBN (Print)978-1-5090-3288-4
DOIs
Publication statusPublished - 24 Jun 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - University Town, Singapore, Singapore, Singapore
Duration: 26 Jun 201629 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

Name6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE
Volume2016
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Abbreviated titleBioRob 2016
Country/TerritorySingapore
CitySingapore
Period26/06/1629/06/16
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

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