Beating heart tracking in robotic surgery using 500 Hz visual servoing, model predictive control and an adaptive observer

Ginhoux, R.; Gangloff, Jacques; Mathelin, M.F. de; Soler, Luc; Sanchez, M.M.A.; Marescaux, J.

doi:10.1109/robot.2004.1307163

Cited by 67 publications

(48 citation statements)

References 11 publications

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“…Some researchers mechanically stabilized the heart first and then tracked the residual motion with a camera [8]. High-frame-rate video cameras provide rich visual data, but can only be used for extracardiac procedures [9]; whereas, medical (mainly ultrasound) scanners provide images of the tissue and can be used for both intracardiac and extracardiac procedures [10]. However, medical scanners have low frame rates.…”

Section: Introductionmentioning

confidence: 99%

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: Introductionmentioning

confidence: 99%

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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“…Thus far, a number of approaches have been used to address the persistency problem in MIS. In (Ginhoux et al, 2004;Sauvee et al, 2006) fiducial markers have been added to the surface of tissue and in (Ott et al, 2008), the surface of the liver is burnt to create a trackable feature.…”

Section: Introductionmentioning

confidence: 99%

Context specific descriptors for tracking deforming tissue

Mountney¹,

Yang²

2012

Medical Image Analysis

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Abstract.In minimally invasive surgery, deployment of motion compensation, dynamic active constraints and adaptive intra-operative guidance require accurate estimation of deforming tissue in 3D. To this end, the use of vision-based techniques is advantageous in that it does not require the integration of additional hardware to the existing surgical settings.Deformation can be recovered by tracking features on the surface of the tissue. Existing methods are mostly based on ad hoc machine vision techniques that have generally been developed for rigid scenes or use pre-determined models with parameters fine tuned to specific surgical settings. In this work, we propose a novel tracking technique based on a context specific feature descriptor. The descriptor can adapt to its surroundings and identify the most discriminate information for tracking. The feature descriptor is represented as a decision tree and the tracking process is formulated as a classification problem for which log likelihood ratios are used to improve classifier training. A recursive tracking algorithm is used to obtain examples of tissue deformation used to train the classifier. Additional training data is generated by geometric and appearance modeling. Experimental results have shown that the proposed context specific descriptor is robust to drift, occlusion, and changes in orientation and scale. The performance of the algorithm is compared with existing tracking algorithms and validated with both simulated and in vivo datasets.

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“…In [5,6,7,8] robotic systems are considered to compensate for the heart motion during off-pump CABG. The principle is to synchronize a robotized tool holder with the anastomosis site movement.…”

Section: Introductionmentioning

confidence: 99%

Cardiolock: An Active Cardiac Stabilizer

Bachta

Renaud

Laroche

et al. 2007

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2007

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Abstract. Off-pump Coronary Artery Bypass Grafting (CABG) is still today a technically difficult procedure. In fact, the mechanical stabilizers used to locally suppress the heart excursion have been demonstrated to exhibit significant residual motion. We therefore propose a novel active stabilizer which is able to compensate for this residual motion. The interaction between the heart and a mechanical stabilizer is first assessed in vivo on an animal model. Then, the principle of active stabilization, based on the high speed vision-based control of a compliant mechanism, is presented. In vivo experimental results are given using a prototype which structure is compatible with a minimally invasive approach.

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Beating heart tracking in robotic surgery using 500 Hz visual servoing, model predictive control and an adaptive observer

Cited by 67 publications

References 11 publications

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

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

Context specific descriptors for tracking deforming tissue

Cardiolock: An Active Cardiac Stabilizer

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