Towards a new cyber-physical system for MRI-guided and robot-assisted cardiac procedures

Yeniaras, Erol; Lamaury, Johann; Deng, Zhigang; Tsekos, Nikolaos V.

doi:10.1109/itab.2010.5687664

Cited by 13 publications

(11 citation statements)

References 16 publications

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“…Fig. 2, on a long axis slice, depicts the trajectory which is to be updated on-the-fly as the procedure evolves, to reflect the morphologic changes in the beating heart [15,19]. In order to construct 3D computational model of the ribs, we performed manual segmentation of cine MR images.…”

Section: Methodsmentioning

confidence: 99%

“…Dynamic MRI were collected and presented in Cinematic (cine) mode which allows the image acquisition in the form of continuous movies. Whereas the computational core has the routines to interface with a suitable MR scanner for online operation, in this work the system was tested offline with the cine images due to hardware setup limitations of the particular scanner [15][16][17][18]. The system is currently used as a virtual test-bed for designing and generating the appropriate control signals for a robotic manipulator (the latter being part of ongoing efforts [19]).…”

Section: Magnetic Resonance Based Control Of a Robotic Manipulator Fomentioning

confidence: 99%

“…On the other hand, to the best of our knowledge, there is no clinically approved MRI-guided robotic system for offpump intracardiac surgeries. This paper introduces the design of an intracardiac surgical system that includes necessary computational tools and software modules for creating a realistic visualization of the beating heart based on MRI [15]. Specifically, the contributions of the proposed system are: (1) A methodology for preoperative planning which can be adapted for a broad range of sophisticated surgeries;…”

Section: Introductionmentioning

confidence: 99%

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

Yeniaras¹,

Lamaury²,

Navkar³

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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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.

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Section: Methodsmentioning

confidence: 99%

Section: Magnetic Resonance Based Control Of a Robotic Manipulator Fomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Yeniaras¹,

Lamaury²,

Navkar³

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…Some groups, e.g. Li et al and Yeniaras et al, work on the development of robotic systems for transapical valve placement under MRI guidance [35,36].…”

Section: Catheter Guidancementioning

confidence: 99%

Transcatheter aortic valve implantation. Role of imaging

Gessat

Frauenfelder

Altwegg

et al. 2011

Aswan Heart Centre Science &Amp; Practice Series

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Transcatheter aortic valve implantation (T-AVI) has shown good results in high-risk patients with severe aortic stenosis. Throughout the whole process of T-AVI, different imaging modalities are indispensable. Preoperatively, multislice computed tomography, angiography and transesophageal echo (TEE) are utilized for patient selection, valve selection, approach selection and the planning of implant placement. Intraoperatively, angiography and TEE are used for controlling placement of the guidewire and valve positioning. Quality control and follow-up require TEE imaging and can require additional CT or angiography studies. In the first half of this paper, we discuss the applicability of different imaging modalities for T-AVI in the light of the current best practice. In the second half of this paper, we present an overview on research projects in medical engineering which aim at development of imagebased methods for increasing patient safety during T-AVI. Template-based implantation planning, as it is applied in dental, orthopedic and other surgical disciplines, is proposed as an aid during implant selection in order to help reduce the incidence of complications such as atrioventricular node block and paravalvular leaks. Current research tries to apply state-of-the-art engineering techniques, such as computational fluid dynamics to optimize valve selection and positioning. For intraoperative assistance during valve positioning, real-time image processing methods are proposed to track target landmarks and the stented valve. ABSTRACTTranscatheter aortic valve implantation (T-AVI) has shown good results in high-risk patients with severe aortic stenosis. Throughout the whole process of T-AVI, different imaging modalities are indispensable. Preoperatively, multislice computed tomography, angiography and transesophageal echo (TEE) are utilized for patient selection, valve selection, approach selection and the planning of implant placement. Intraoperatively, angiography and TEE are used for controlling placement of the guidewire and valve positioning. Quality control and follow-up require TEE imaging and can require additional CT or angiography studies. In the first half of this paper, we discuss the applicability of different imaging modalities for T-AVI in the light of the current best practice.In the second half of this paper, we present an overview on research projects in medical engineering which aim at development of image-based methods for increasing patient safety during T-AVI. Template-based implantation planning, as it is applied in dental, orthopedic and other surgical disciplines, is proposed as an aid during implant selection in order to help reduce the incidence of complications such as atrioventricular node block and paravalvular leaks. Current research tries to apply state-of-the-art engineering techniques, such as computational fluid dynamics to optimize valve selection and positioning. For intraoperative assistance during valve positioning, real-time image processing methods are proposed to t...

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“…In a parallel study, a conceptual system design aimed for robot assisted MRI-guided aortic valve replacement was proposed in Ref. [6]. Focusing on beating-heart procedures, the authors in latter studies proposed to use MRI for guiding robotic manipulators in sophisticated heart surgeries.…”

Section: Introduction and Motivation For This Workmentioning

confidence: 99%

Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions

Salimi

Ramezanifar

Mohammadpour

et al. 2014

Journal of Mechanisms and Robotics

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Using robotic systems to assist with sophisticated medical interventions such as aortic valve replacement under beating heart conditions necessitates the development of dexterous manipulators to ensure a safe and reliable operation. These mechanisms should not only be capable of tracking the desired trajectories with a high level of accuracy but also need to cope with strict medical constraints such as environment compatibility, patient safety and compactness. In this paper, we propose to design and experimentally qualify a robotic platform that takes into account the aforementioned requirements. Benefiting from the features of a parallel architecture, this four degrees of freedom (DOF) magnetic resonance imaging (MRI)-compatible patient-mounted and cable-driven manipulator (ROBOCATHETER) seeks to steer cardiac catheters under beating heart condition, while suitably addressing the deficiencies that currently used manipulators vastly suffer from. In addition to the detailed description of the robot design and its dedicated power transmission system, we also present the derivation of the robot's forward and inverse kinematic equations. The control algorithm implemented for the system actuation is a varying-gain proportional-integral-derivative (PID) controller, whose tracking performance will be examined.

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Towards a new cyber-physical system for MRI-guided and robot-assisted cardiac procedures

Cited by 13 publications

References 16 publications

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

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

Transcatheter aortic valve implantation. Role of imaging

Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions

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