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 publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings
Pages476-484
Number of pages9
EditionPART 2
DOIs
StatePublished - Dec 1 2008
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)0302-9743
ISSN (Electronic)1611-3349

Other

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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Fingerprint Dive into the research topics of 'Robotic system for transapical aortic valve replacement with MRI guidance'. Together they form a unique fingerprint.

  • Cite this

    Li, M., Mazilu, D., & Horvath, K. A. (2008). Robotic system for transapical aortic valve replacement with MRI guidance. In Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings (PART 2 ed., 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