TY - GEN
T1 - Cardiac interventions under MRI guidance using robotic assistance
AU - Li, Ming
AU - Kapoor, Ankur
AU - Mazilu, Dumitru
AU - Wood, Bradford
AU - Horvath, Keith A.
PY - 2010/8/26
Y1 - 2010/8/26
N2 - Transapical aortic valve replacement under MRI guidance in a beating heart is a recent minimally invasive technique that could benefit from a surgical assistant system. We present a robotic surgical assistant system that can precisely and repeatably deliver aortic valve prostheses. The surgical system consists of an imaging system, an Innomotion robotic arm, a 3-DoF valve delivery module and user interfaces. Interactive control allows the physician to remain in the loop and adjust the orientation and position using real-time MR feedback. The 3-DoF valve delivery module is developed to deploy both balloon-expandable and self-expanding stented prostheses. We use a new compact fiducial that can be placed close to the volume of interest and requires a single image plane for image based robot registration. We evaluate the MRI compatible valve delivery module for both types of prostheses. The accuracy for prosthesis delivery is about 0:8 mm and 1:5 mm, for self-expanding and balloon-expandable prostheses, respectively. Preliminary results in ex-vivo experimentation suggest that the robotic system can be translated into animal and clinical models.
AB - Transapical aortic valve replacement under MRI guidance in a beating heart is a recent minimally invasive technique that could benefit from a surgical assistant system. We present a robotic surgical assistant system that can precisely and repeatably deliver aortic valve prostheses. The surgical system consists of an imaging system, an Innomotion robotic arm, a 3-DoF valve delivery module and user interfaces. Interactive control allows the physician to remain in the loop and adjust the orientation and position using real-time MR feedback. The 3-DoF valve delivery module is developed to deploy both balloon-expandable and self-expanding stented prostheses. We use a new compact fiducial that can be placed close to the volume of interest and requires a single image plane for image based robot registration. We evaluate the MRI compatible valve delivery module for both types of prostheses. The accuracy for prosthesis delivery is about 0:8 mm and 1:5 mm, for self-expanding and balloon-expandable prostheses, respectively. Preliminary results in ex-vivo experimentation suggest that the robotic system can be translated into animal and clinical models.
UR - http://www.scopus.com/inward/record.url?scp=77955837292&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955837292&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509151
DO - 10.1109/ROBOT.2010.5509151
M3 - Conference contribution
AN - SCOPUS:77955837292
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2574
EP - 2579
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -