TY - GEN
T1 - Magnetic resonance based control of a robotic manipulator for interventions in the beating heart
AU - Yeniaras, Erol
AU - Lamaury, Johann
AU - Navkar, Nikhil V.
AU - Shah, Dipan J.
AU - Chin, Karen
AU - Deng, Zhigang
AU - Tsekos, Nikolaos V.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864439601&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864439601&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980459
DO - 10.1109/ICRA.2011.5980459
M3 - Conference contribution
AN - SCOPUS:84864439601
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6270
EP - 6275
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -