An Active Motion Compensation Instrument for Beating Heart Mitral Valve Surgery

Kettler, Daniel T.; Plowes, Richard D.; Novotny, Paul M.; Vasilyev, Nikolay V.; Nido, Pedro J. del; Howe, Robert D.

doi:10.1109/iros.2007.4399543

Cited by 32 publications

(60 citation statements)

References 14 publications

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“…Currently, the result of the procedure is only known after the heart is restarted when it is too late to make adjustments. If a surgical tool could be made to follow the mitral valve's one dimensional motion [1], it would offer a better outcome of the procedure for the patient.…”

Section: ) Annuloplastymentioning

confidence: 99%

“…The heart position data is collected from ultrasound images. This predictor is then used to control a hand-held one-dimensional motion compensation tool for mitral valve repair [1]. Interestingly, as the surgical tool is hand-held, there is no dynamic effect intervening between the surgeon's position and the rigid tool's TABLE I: The previous research has been divided into different categories based on whether medical images were used to track the heart position and whether the robot dynamics were considered in the surgical robot control method.…”

Section: A Feedforward Compensation Of Delay Through Predictionmentioning

confidence: 99%

“…ImageRobot Predictive Control Based Dynamics [1] Prediction No No [7] Prediction No Yes [11] Prediction Yes No [18] Prediction No Yes [19] Predictive Control No Yes [20] Predictive Control No Yes Proposed Predictive Yes Yes Method Control position, and the intervening dynamics between the reference position and the actual position, which is that of a voice coil linear actuator, is neglected. Other prediction methods address heart rate variability through the use of adaptive filters, which slowly change the length of the predicted heart beat to make it coincide with the length of the actual heartbeat.…”

Section: Prediction Ormentioning

confidence: 99%

“…The heart is a quick-moving organ with velocities and accelerations up to 210 mm/s and 3800 mm/s 2 , respectively [1] making it an extremely difficult organ to perform a surgical procedure on while it is freely beating. One would require superhuman skills to manually compensate for the heart's fast motion and simultaneously perform a surgical procedure.…”

Section: Introductionmentioning

confidence: 99%

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Smith Predictor-Based Robot Control for Ultrasound-Guided Teleoperated Beating-Heart Surgery

Bowthorpe

Tavakoli

Becher

et al. 2014

IEEE J. Biomed. Health Inform.

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Abstract-Performing surgery on fast-moving heart structures while the heart is freely beating is next to impossible. Nevertheless, the ability to do this would greatly benefit patients. By controlling a teleoperated robot to continuously follow the heart's motion, the heart can be made to appear stationary. The surgeon will then be able to operate on a seemingly stationary heart when in reality it is freely beating. The heart's motion is measured from ultrasound images and thus involves a non-negligible delay due to image acquisition and processing, estimated to be 150 ms that, if not compensated for, can cause the teleoperated robot's end-effector (i.e., the surgical tool) to collide with and puncture the heart. This research proposes the use of a Smith predictor to compensate for this time delay in calculating the reference position for the teleoperated robot. The results suggest that heart motion tracking is improved as the introduction of the Smith predictor significantly decreases the mean absolute error, which is the error in making the distance between the robot's endeffector and the heart follow the surgeon's motion, and the mean integrated square error.

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Section: ) Annuloplastymentioning

confidence: 99%

Section: A Feedforward Compensation Of Delay Through Predictionmentioning

confidence: 99%

Section: Prediction Ormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Smith Predictor-Based Robot Control for Ultrasound-Guided Teleoperated Beating-Heart Surgery

Bowthorpe

Tavakoli

Becher

et al. 2014

IEEE J. Biomed. Health Inform.

View full text Add to dashboard Cite

show abstract

“…Motion synchronization can aid in preventing this type of a hazard. Mitral valve annuloplasty also requires one-dimensional motion tracking [9]. The surgeon can reshape the mitral valve annulus by stapling an annuloplasty ring within it and evaluate the performance of the newly shaped valve on the fly.…”

Section: A Motivating Surgical Proceduresmentioning

confidence: 99%