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.
|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|
|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
|Name||6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)|
|Conference||6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016|
|Abbreviated title||BioRob 2016|
|Period||26/06/16 → 29/06/16|
- 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, Jan G (Recipient) & Misra, Sarthak (Recipient), 29 Jun 2016