Toward Robotized Beating Heart TECABG: Assessment of the Heart Dynamics Using High-Speed Vision

Cuvillon, Loïc; Gangloff, Jacques; Mathelin, Michel de; Forgione, Antonello

doi:10.1007/11566489_68

Cited by 25 publications

(33 citation statements)

References 6 publications

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“…The deformations can be decoupled [33,35] [49], vector autoregressive models [49], Taken's theorem [36] and Linear Parameter Variant Finite Impulse Response Models [50]. Information from the ventilator and ECG has also been incorporated to increase accuracy [51]. Modeling large scale, non-periodic tissue deformation caused by tissue-tool interaction or muscular contraction is more challenging.…”

Section: Tissue Morphology Modelingmentioning

confidence: 99%

Three-Dimensional Tissue Deformation Recovery and Tracking

Mountney

Stoyanov

Yang

2010

IEEE Signal Process. Mag.

165

111

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Recent advances in surgical robotics have provided a platform for extending the current capabilities of minimally invasive surgery by incorporating both pre-operative and intra-operative imaging data. In this tutorial paper, we introduce techniques for in vivo 3D tissue deformation recovery and tracking, based on laparoscopic or endoscopic images. These optically based techniques provide a unique opportunity for recovering surface deformation of the softtissue without the need of additional instrumentation. They can therefore be easily incorporated into the existing surgical workflow. Technically, the problem formulation is challenging due to non-rigid deformation of the tissue and instrument interaction. Current approaches and future research directions in terms of intra-operative planning and adaptive surgical navigation are explained in detail.Index Terms-image-guidance, robotic assisted minimally invasive surgery, 3D deformation recovery.

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Section: Tissue Morphology Modelingmentioning

confidence: 99%

Three-Dimensional Tissue Deformation Recovery and Tracking

Mountney

Stoyanov

Yang

2010

IEEE Signal Process. Mag.

165

111

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“…To complete the work presented in several previous publications focusing on heart motion analysis [13][14][15], we here present an experimental evaluation of the forces applied by a passively stabilized heart. This allows a better understanding of the interaction between the cardiac muscle and a mechanical stabilizer, and provides useful information for the design of a stabilizer.…”

Section: Experimental Evaluation Of the Heart Contact Forcesmentioning

confidence: 99%

Cardiolock: An active cardiac stabilizer. Firstin vivoexperiments using a new robotized device

Bachta¹,

Renaud²,

Laroche³

et al. 2008

Computer Aided Surgery

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Off-pump Coronary Artery Bypass Grafting (CABG) is still a technically difficult procedure. The mechanical stabilizers used for local suppression of the heart excursion have been demonstrated to exhibit significant residual motion, which could lead to a lack of accuracy in performing the surgical task, particularly when using a minimally invasive surgery (MIS) approach. We therefore propose a novel active stabilizer to compensate for the residual motion whose architecture is compatible with MIS.An experimental evaluation of a commercially available totally endoscopic stabilizer is first presented to demonstrate the unsatisfactory behavior of this device. Then, the interaction between the heart and a mechanical stabilizer is assessed in vivo using an animal model. Finally, the principle of active stabilization, based on the high-speed vision-based control of a piezoactuated compliant mechanism, is presented, along with in vivo experimental results obtained using a prototype to demonstrate its efficiency.

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“…In order to complete several publications focused on the heart motion analysis [9,10], we present here an experimental evaluation of the forces applied by a passively stabilized heart. This allows a better understanding of the interaction between the cardiac muscle and a mechanical stabilizer, and provides useful information for the design of a stabilizer.…”

Section: Experimental Evaluation Of the Heart Contact Forcesmentioning

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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Toward Robotized Beating Heart TECABG: Assessment of the Heart Dynamics Using High-Speed Vision

Cited by 25 publications

References 6 publications

Three-Dimensional Tissue Deformation Recovery and Tracking

Three-Dimensional Tissue Deformation Recovery and Tracking

Cardiolock: An active cardiac stabilizer. Firstin vivoexperiments using a new robotized device

Cardiolock: An Active Cardiac Stabilizer

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