Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Videos

Motion estimation in beating heart surgery.

Tobias Ortmaier1, Martin Gröger, Dieter H Boehm

  • 1German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, 82234 Wessling, Germany. tobias.ortmaier@alumni.tum.de

IEEE Transactions on Bio-Medical Engineering
|October 21, 2005
PubMed
Summary

This study introduces advanced algorithms for robotic surgery systems to compensate for beating-heart motion during minimally invasive procedures. These algorithms enable real-time tracking and prediction, enhancing surgical precision and patient outcomes.

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery.

Frontiers in robotics and AI·2021
Same author

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases.

Frontiers in robotics and AI·2021
Same author

Detection of Breathing Movements of Preterm Neonates by Recording Their Abdominal Movements with a Time-of-Flight Camera.

Pharmaceutics·2021
Same author

[Robotic assistance systems for surgery : Current developments and focus of research].

Der Chirurg; Zeitschrift fur alle Gebiete der operativen Medizen·2020
Same author

Impact of preoperative atrial fibrillation on thromboembolic events and pump thrombosis in long-term left ventricular assist device therapy.

European journal of cardio-thoracic surgery : official journal of the European Association for Cardio-thoracic Surgery·2019
Same author

Validation of simple measures of aortic distensibility based on standard 4-chamber cine CMR: a new approach for clinical studies.

Clinical research in cardiology : official journal of the German Cardiac Society·2019

Area of Science:

  • Robotics
  • Medical Technology
  • Surgical Innovation

Background:

  • Minimally invasive beating-heart surgery offers patient benefits over open surgery.
  • Heart motion during surgery presents significant challenges for surgeons.
  • Advanced robotic systems require precise motion compensation for beating hearts.

Purpose of the Study:

  • To develop and evaluate algorithms for real-time motion compensation in robotic beating-heart surgery.
  • To improve surgical precision and reduce challenges associated with heart movement.
  • To enhance the capabilities of advanced robotic surgery systems.

Main Methods:

  • Implementation of an affine tracking scheme, reducible to block matching for real-time landmark tracking.
  • Fourier analysis to identify dominant motion frequencies (heart and respiration rates).

Related Experiment Videos

  • Development of local and global prediction schemes for tracking robustness, including a novel multisensor approach incorporating electrocardiogram and respiration data.

    • Main Results:

    • Real-time tracking of multiple natural landmarks on the beating heart was achieved.
    • Fourier analysis revealed distinct heart and respiration rate peaks in motion parameters.
    • The proposed multisensor prediction scheme demonstrated superior performance compared to artificial neural networks and linear prediction.

    Conclusions:

    • The developed algorithms effectively compensate for beating-heart motion in robotic surgery.
    • Robust prediction schemes enhance tracking accuracy and reliability, even with disturbances.
    • The multisensor approach offers a significant advancement in robotic-assisted cardiac surgery precision.