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Robotic Tissue Tracking for Beating Heart Mitral Valve Surgery

  • Shelten G. Yuen

      Affiliations

    • Harvard School of Engineering and Applied Sciences, 29 Oxford Street, Cambridge, MA, 02138, USA
    • Corresponding Author InformationCorresponding author.
    • ,
  • Nikolay V. Vasilyev

      Affiliations

    • Department of Cardiovascular Surgery, Children’s Hospital Boston, MA, USA
    • ,
  • Pedro J. del Nido

      Affiliations

    • Department of Cardiovascular Surgery, Children’s Hospital Boston, MA, USA
    • ,
  • Robert D. Howe

      Affiliations

    • Harvard School of Engineering and Applied Sciences, 29 Oxford Street, Cambridge, MA, 02138, USA
    • Harvard-MIT Division of Health Sciences & Technology, Cambridge, MA, USA

Received 4 August 2009; received in revised form 16 June 2010; accepted 21 June 2010. published online 08 July 2010.
Accepted Manuscript

Abstract 

The rapid motion of the heart presents a significant challenge to the surgeon during intracardiac beating heart procedures. We present a 3D ultrasound-guided motion compensation system that assists the surgeon by synchronizing instrument motion with the heart. The system utilizes the fact that certain intracardiac structures, like the mitral valve annulus, have trajectories that are largely constrained to translation along one axis. This allows the development of a real-time 3D ultrasound tissue tracker that we integrate with a 1 degree-of-freedom (DOF) actuated surgical instrument and predictive filter to devise a motion tracking system adapted to mitral valve annuloplasty. In experiments demonstrate that the system provides highly accurate tracking (1.0 mm error) with 70% less error than manual tracking attempts.

Keywords: 3D ultrasound, real-time tissue tracking, motion compensation, medical robotics, beating heart surgery

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PII: S1361-8415(10)00070-8

doi:10.1016/j.media.2010.06.007

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