Trajectory of coronary motion and its significance in robotic motion cancellation☆

Cattin, Philippe C.; Dave, Hitendu; Grünenfelder, Jürg; Székely, Gábor; Turina, Marko; Zünd, Gregor

doi:10.1016/j.ejcts.2004.01.019

Cited by 40 publications

(28 citation statements)

References 5 publications

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“…With a constrained motion (maximum stiffness of the octopus arm), the excursion range is smaller: 500 mm and 6 mm, respectively. These values for the excursion range are similar to those reported by Cattin et al [13] for the residual motion of a stabilized AOI with constant hemodynamics.…”

Section: Assessment Of the Myocardium Motionsupporting

confidence: 80%

Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision

Cuvillon

Gangloff

Mathelin

et al. 2006

Computer Aided Surgery

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Active robotic filtering is probably the solution for beating heart Totally Endoscopic Coronary Artery Bypass Grafting (TECABG). In this work, we assess the heart motion dynamics by simultaneous use of high-speed imaging of optical markers attached to the heart, ECG signals and ventilator airflow acquisitions. Our goal is to assess the heart motions (shape, velocity, acceleration) in order to be able to make more accurate specifications for a novel, dedicated robot that could follow these motions in real time. Furthermore, using two additional inputs (ECG and airflow), we propose a novel robust prediction algorithm that could be used with a predictive control algorithm to improve the tracking accuracy.

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Section: Assessment Of the Myocardium Motionsupporting

confidence: 80%

Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision

Cuvillon

Gangloff

Mathelin

et al. 2006

Computer Aided Surgery

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“…The motion of the stabilized beating heart, according to the measurement experiment performed in [31], is 0.59 mm in the lateral plane (x-y axis) and 2.1 mm out-of-plane (zaxis). For evaluation of the tracking algorithm, the motion of the pressure-regulated artificial heart shown in Fig.…”

Section: Methodsmentioning

confidence: 99%

Efficient physics-based tracking of heart surface motion for beating heart surgery robotic systems

2010

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Purpose Tracking of beating heart motion in a robotic surgery system is required for complex cardiovascular interventions. Methods A heart surface motion tracking method is developed, including a stochastic physics-based heart surface model and an efficient reconstruction algorithm. The algorithm uses the constraints provided by the model that exploits the physical characteristics of the heart. The main advantage of the model is that it is more realistic than most standard heart models. Additionally, no explicit matching between the measurements and the model is required. The application of meshless methods significantly reduces the complexity of physics-based tracking. Results Based on the stochastic physical model of the heart surface, this approach considers the motion of the intervention area and is robust to occlusions and reflections. The tracking algorithm is evaluated in simulations and experiments on an artificial heart. Providing higher accuracy than the standard model-based methods, it copes successfully with occlusions and provides high performance when all measurements are not available. Conclusions Combining the physical and stochastic description of the heart surface motion ensures physically correct and accurate prediction. Automatic initialization of the physics-based cardiac motion tracking enables system evaluation in a clinical environment.

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“…Furthermore, this area is stabilized by a mechanical stabilizer during a heart operation. The stabilizer damps the heart motion so that the heart surface deformations are small [12]. This allows to assume a linear elastic behavior of the heart surface.…”

Section: B Model-based Descriptionmentioning

confidence: 99%

“…3. The motion of the stabilized beating heart, according to the medical study performed in [12], is 0.59 mm in the lateral plane (x-y-axis) and 2.1 mm out-of-plane (zaxis). The obtained amplitude of the artificial heart motion is 1.3 mm and 1.2 mm in x-and y-direction, respectively, and 2.5 mm out-of-plane.…”

Section: A Experimental Setupmentioning

confidence: 99%

Visual stabilization of beating heart motion by model-based transformation of image sequences

Bogatyrenko

Hanebeck

2011

Proceedings of the 2011 American Control Conference

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Abstract-In order to assist a surgeon while operating on a beating heart, visual stabilization makes the beating heart appear still by providing the current heart view as stationary and non-moving. In this way, the surgeon is not disturbed during an operation by the motion of the heart and has the impression of performing conventional surgery. In contrast to existing methods for visual stabilization, the proposed approach involves a model-based transformation of image sequences provided by a camera system. This transformation incorporates the knowledge of physical characteristics of the heart in form of a mathematical model of the heart surface. The main advantage of this transformation is that the uncertainties of the model and measurements are considered. This occurs by estimating the parameters of the transformation. Furthermore, the quality of the visual stabilization is additionally improved by adapting the parameters of the underlying physical model. The performance of the proposed approach is evaluated in an experiment with a pressure-regulated artificial heart. In comparison to standard approaches, it provides superior results illustrating the high quality of the visual stabilization.

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Trajectory of coronary motion and its significance in robotic motion cancellation☆

Cited by 40 publications

References 5 publications

Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision

Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision

Efficient physics-based tracking of heart surface motion for beating heart surgery robotic systems

Visual stabilization of beating heart motion by model-based transformation of image sequences

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