Surgical motion adaptive robotic technology (S.M.A.R.T): Taking the motion out of physiological motion

Anshul Thakral, Jeffrey Wallace, Damian Tomlin, Nikesh Seth, Nitish V. Thakor

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

Abstract

In precision computer and robotic assisted minimally invasive surgical procedures, such as retinal microsurgery or cardiac bypass surgery, physiological motion can hamper the surgeon’s ability to effectively visualize and approach the target site. Current day stabilizers used for minimally invasive cardiac surgery often stretch or pull at the tissue, causing subsequent tissue damage. In this study, we investigated novel means of modeling Z-axis physiological motion and demonstrate how these models could be used to compensate for this motion in order to provide a more stable surgical field. The Z-axis motion compensation is achieved by using a fiber-optic laser sensor to obtain precise displacement measurements. Using a weighted time series modeling technique, modeling of rodent chest wall motion and heart wall motion was accomplished. Our computational methods for modeling physiological motion open the door for applications using high speed, high precision actuators to filter motion out and provide for a stable surgical field.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings
EditorsWiro J. Niessen, Max A. Viergever
PublisherSpringer Verlag
Pages317-325
Number of pages9
ISBN (Print)3540426973, 9783540454687
DOIs
StatePublished - Jan 1 2001
Event4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 - Utrecht, Netherlands
Duration: Oct 14 2001Oct 17 2001

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2208
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001
CountryNetherlands
CityUtrecht
Period10/14/0110/17/01

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Thakral, A., Wallace, J., Tomlin, D., Seth, N., & Thakor, N. V. (2001). Surgical motion adaptive robotic technology (S.M.A.R.T): Taking the motion out of physiological motion. In W. J. Niessen, & M. A. Viergever (Eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings (pp. 317-325). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2208). Springer Verlag. https://doi.org/10.1007/3-540-45468-3_38