Beating‐heart registration for organ‐mounted robots

Organ‐mounted robots address the problem of beating‐heart surgery by adhering to the heart, passively providing a platform that approaches zero relative motion. Because of the quasi‐periodic deformation of the heart due to heartbeat and respiration, registration must address not only spatial registration but also temporal registration.

[1]  W. Boyd,et al.  Beating heart surgery: why expect less central nervous system morbidity? , 1999, The Annals of thoracic surgery.

[2]  Nathan A. Wood,et al.  Parallel Force/Position Control of an Epicardial Parallel Wire Robot , 2016, IEEE Robotics and Automation Letters.

[3]  Nathan A. Wood,et al.  Physiological motion modeling for organ‐mounted robots , 2017, The international journal of medical robotics + computer assisted surgery : MRCAS.

[4]  Dwight A Meglan,et al.  Techniques for epicardial mapping and ablation with a miniature robotic walker , 2017, Robotic surgery.

[5]  Willis J. Tompkins,et al.  A Real-Time QRS Detection Algorithm , 1985, IEEE Transactions on Biomedical Engineering.

[6]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[7]  B. Desjardins,et al.  ECG-gated cardiac CT. , 2004, AJR. American journal of roentgenology.

[8]  K. S. Arun,et al.  Least-Squares Fitting of Two 3-D Point Sets , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[9]  T M Peters,et al.  Virtual and Augmented Medical Imaging Environments: Enabling Technology for Minimally Invasive Cardiac Interventional Guidance , 2010, IEEE Reviews in Biomedical Engineering.

[10]  Edouard Laroche,et al.  Motion Prediction for Computer-Assisted Beating Heart Surgery , 2009, IEEE Transactions on Biomedical Engineering.

[11]  S. Riederer,et al.  Respiratory Motion of the Heart: Kinematics and the Implications for the Spatial Resolution in Coronary Imaging , 1995, Magnetic resonance in medicine.

[12]  Howie Choset,et al.  Inequality constrained Kalman filtering for the localization and registration of a surgical robot , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Howie Choset,et al.  Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments , 2012, 2012 IEEE International Conference on Robotics and Automation.

[14]  Gutti Ramasubrahmanyam,et al.  Sub epicardial dissecting hematoma with rupture — A rare complication of suction stabilizers , 2007 .

[15]  Christopher R. Carlson,et al.  An Ultrasound-based Localization Algorithm for Catheter Ablation Guidance in the Left Atrium , 2010, Int. J. Robotics Res..

[16]  Marco A. Zenati,et al.  Shape estimation for image-guided surgery with a highly articulated snake robot , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Elliot R. McVeigh,et al.  Displacement and velocity of the coronary arteries: cardiac and respiratory motion , 2006, IEEE Transactions on Medical Imaging.

[18]  M. Hayashida,et al.  Epicardial hematoma and myocardial ischemia following application of Starfish stabilizer: an uncommon complication of the device , 2010, Journal of Anesthesia.

[19]  Cameron N Riviere,et al.  Synchronization of epicardial crawling robot with heartbeat and respiration for improved safety and efficiency of locomotion , 2012, The international journal of medical robotics + computer assisted surgery : MRCAS.

[20]  Takeo Kanade,et al.  "Virtual Touch": An Efficient Registration Method for Catheter Navigation in Left Atrium , 2006, MICCAI.

[21]  M. Lemma,et al.  Do cardiac stabilizers really stabilize? Experimental quantitative analysis of mechanical stabilization. , 2005, Interactive cardiovascular and thoracic surgery.

[22]  N V Mandke,et al.  Intra myocardial dissecting hematoma with epicardial rupture - an unusual complication of the Octopus 3 stabilizer. , 2002, European journal of cardio-thoracic surgery : official journal of the European Association for Cardio-thoracic Surgery.