Robotic system for transapical aortic valve replacement with MRI guidance

Ming Li, Dumitru Mazilu, Keith A. Horvath

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper reports our work on developing a robotic surgical system for transapical beating heart aortic valve replacement (AVR) under interactive real-time magnetic resonance imaging (rtMRI) guidance. Our system integrates a real-time MRI system, a compound MRI robot, as well as an interface for the surgeon to plan the procedure and manipulate the robot. The compound robot consists of a positioning module and a valve delivery module. A 5-DOF Innomotion positioning arm provides and maintains direct access to the native aortic valve. A newly developed 3-DOF robotic valve delivery module allows the surgeon to remotely control bioprosthetic valve delivery with MRI guidance. Preliminary evaluation of the parameters of the robotic system demonstrates it can provide sufficient capability to successfully assist the surgeon.

Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages476-484
Number of pages9
Volume5242 LNCS
EditionPART 2
DOIs
StatePublished - 2008
Externally publishedYes
Event11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008 - New York, NY, United States
Duration: Sep 6 2008Sep 10 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume5242 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008
CountryUnited States
CityNew York, NY
Period9/6/089/10/08

Fingerprint

Magnetic resonance imaging
Replacement
Guidance
Robotics
Robots
Robot
Module
Positioning
Magnetic resonance
Real-time
Magnetic Resonance Imaging
Imaging techniques
Integrate
Sufficient
Evaluation
Demonstrate

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Li, M., Mazilu, D., & Horvath, K. A. (2008). Robotic system for transapical aortic valve replacement with MRI guidance. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 2 ed., Vol. 5242 LNCS, pp. 476-484). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5242 LNCS, No. PART 2). https://doi.org/10.1007/978-3-540-85990-1-57

Robotic system for transapical aortic valve replacement with MRI guidance. / Li, Ming; Mazilu, Dumitru; Horvath, Keith A.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5242 LNCS PART 2. ed. 2008. p. 476-484 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5242 LNCS, No. PART 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Li, M, Mazilu, D & Horvath, KA 2008, Robotic system for transapical aortic valve replacement with MRI guidance. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 2 edn, vol. 5242 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 5242 LNCS, pp. 476-484, 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008, New York, NY, United States, 9/6/08. https://doi.org/10.1007/978-3-540-85990-1-57
Li M, Mazilu D, Horvath KA. Robotic system for transapical aortic valve replacement with MRI guidance. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 2 ed. Vol. 5242 LNCS. 2008. p. 476-484. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). https://doi.org/10.1007/978-3-540-85990-1-57
Li, Ming ; Mazilu, Dumitru ; Horvath, Keith A. / Robotic system for transapical aortic valve replacement with MRI guidance. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5242 LNCS PART 2. ed. 2008. pp. 476-484 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).
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