Motion Prediction for Computer-Assisted Beating Heart Surgery

Abstract

Off-pump totally endoscopic coronary artery bypass grafting is a milestone for cardiac surgery, and still a technical challenge. Indeed, the fast and complex cardiac motion makes this operating method technically demanding. Therefore, several robotic systems have been designed to assist the surgeons by compensating for the cardiac motion and providing a virtually motionless operating area. In the proposed systems, the servoing schemes often take advantage of a prediction algorithm that supplies the controller with some future heart motion. This prediction enlarges the control-loop bandwidth, thus allowing a better motion compensation. Obviously, improving the prediction accuracy will lead to better motion-compensation results. Thus, a current challenge in computer-assisted cardiac surgery research is the design of efficient heart-motion-prediction algorithms. In this paper, a detailed survey of the main existing prediction approaches is given and a classification is provided. Then, a novel prediction technique based on amplitude modulation is proposed, and compared with other techniques using in vivo collected datasets. A final discussion summarizes the main features of all the proposed approaches.

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

“…This is typically achieved with iterative strategies such as optical flow (Horn and Schunck, 1981;Lucas and Kanade, 1981), which are based on the knowledge of the location of a feature in the previous frame to constrain a search for the corresponding feature in the next frame, assuming a small degree of motion and intensity coherence. Iterative strategies have been combined with predictive models of feature localization based on prior knowledge of anatomical periodicity, machine learning approaches and predictive filtering (Ginhoux et al, 2005;Ortmaier et al, 2005;Bachta et al, 2009;Bogatyrenko et al, 2011;Richa et al, 2010;Giannarou et al, 2012;Mahadevan and Vasconcelos, 2009;Puerto Souza et al) and have been extensively used in laparoscopic images with varying degrees of success (Sauvee et al, 2007;Elhawary and Popovic, 2011;Ortmaier et al, 2005;Yip et al, 2012).…”

Stability and performance analysis of three-channel teleoperation control architectures for medical applications

“…Beating heart is a very challenging environment and its movement frequency is up to 2 Hz. Thus, the motion disturbance frequencies in thoracic telesurgery lie in the range 0 ∼ 2 Hz (0 ∼ 12.6 rad/s) [31]. In this simulations, the target range of frequencies for stable teleoperation is set to 20 rad/sec.…”

Surgical Vision

“…30,81 Deformation resulting from cardiac and respiratory cycles can be modeled as quasi-periodic or periodic signals and several approaches have been suggested for modeling motion components either individually or in combination. 7,30,72,81,94,95 The challenge in this area is to provide robust response methods for dealing with unexpected motions for example arising from arrhythmia.…”