Magnetic Resonance Based Control of a Robotic Manipulator for Interventions in the Beating Heart
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.
Erol Yeniaras Johann Lamaury Nikhil V. Navkar Dipan J. Shah Karen Chin Zhigang Deng Nikolaos V. Tsekos
Medical Robotics Laboratory,Department of Computer Science at University of Houston,Houston,TX 77204 Computer Graphics and Interactive Media Lab.,Department of Computer Science,University of Houston,Ho Methodist DeBakey Heart & Vascular Center,Houston,TX 77030 USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
6270-6275
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）