Magnetic resonance based control of a robotic manipulator for interventions in the beating heart

Abstract

As a part of an ongoing project, in this paper we introduce the first version of a system which has a novel methodology for Cine (as in cinema) MRI based control of a cardiac robot for beating heart surgeries. The system uses the preoperative planning approach that we developed earlier, and integrates it to the intraoperative algorithms for controlling a robot and tracking some specific landmarks of a highly dynamical surgical field. In particular, our late studies presented herein aim to demonstrate the feasibility of integrating appropriate computational tools to achieve the volumetric image guidance for minimally invasive surgeries in the beating heart. We conceive of the system as practicable for in vitro experiments upon the completion of the first physical prototype, which may pave the way for expansion of the approach for other complex surgeries as well.

Implementation of a force-feedback interface for robotic assisted interventions with real-time MRI guidance

“…This system is the result of prior work focused on the development an d integration of enabling methodologies in MRI-guided and robot-assisted intracardiac procedures [14,18]. Studies with collaborating clinicians clearly demonstrated that the human-machine interface could be substantially improved in terms of intuitiveness and ergonomics.…”

“…1(a) illustrates a model of a generalized slave manipulator which consists of a straight tubular link with a bending section near its distal tip. This manipulator was derived in prior TAVI simulation studies [18] to be suitable for intracardiac procedures via a transapical access . Although the master device is designed for the TAVI slave manipulator, the principles used for this design are appropriate for other fixed-point access procedures with remote center of motion.…”

“…The developed FFD was tested for performing MRIguided procedures in a dynamic AoP for the simulated clinical scenario for TAVI [17,18,23]. This particular clinical paradigm was selected as a representative application to assess how the FFD would be used in presence of a highly dynamic environment.…”

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

“…Along the same line, Yeniaras et al . proposed the application of real‐time MR images to control a robot for intracardiac beating‐heart surgery. They used offline cine‐MRI images and a simulated robot to prove the concept of visual servoing by tracking tool and tissue in transapical cardiac interventions.…”

Reconfigurable MRI-guided robotic surgical manipulator: Prostate brachytherapy and neurosurgery applications

“…Moreover, it requires deliberate design consideration that minimizes the H. Su transverse space of the closed-bore. To comply with this restriction, a number of mechanisms have been investigated: (i) remote center of motion (RCM) mechanism using arch structure [1] and parallelogram, (ii) articulated serial linkage mechanism [2] and a more generic modular approach [3], (iii) a 5-DOF parallel manipulator [4], (iv) compliant mechanism, including bending mechanism of micro grasping forceps for neurosurgery [5] and leverage and parallelepiped mechanism for micro surgery [6], (v) continuum type robot utilizing steerable needles [7] and (vi) a wire-driven needle angulation mechanism [8].…”