کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10337590 692868 2013 7 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robotic tissue tracking for beating heart mitral valve surgery
ترجمه فارسی عنوان
ردیابی بافت رباتیک برای شکستن جراحی دریچه میترال قلب
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر گرافیک کامپیوتری و طراحی به کمک کامپیوتر
چکیده انگلیسی
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 vivo experiments demonstrate that the system provides highly accurate tracking (1.0 mm error) with 70% less error than manual tracking attempts.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Medical Image Analysis - Volume 17, Issue 8, December 2013, Pages 1236-1242
نویسندگان
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