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Robotic Motion Compensation for Beating Heart Intracardiac Surgery
Shelten G Yuen1, Daniel T Kettler, Paul M Novotny
1School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA.
The International Journal of Robotics Research
|May 4, 2010
Summary
This study introduces a motion compensation instrument (MCI) to improve 3D ultrasound-guided surgery. By synchronizing with heart motion, the MCI enhances surgeon dexterity and reduces force, even with noisy, delayed imaging.
Area of Science:
- Medical imaging
- Robotics
- Surgical technology
Background:
- Minimally invasive cardiac procedures using 3D ultrasound are challenged by rapid heart motion, time delays, and noise.
- Accurate tracking of intracardiac structures is crucial for surgical success.
Purpose of the Study:
- To investigate a one-degree-of-freedom motion compensation system for synchronizing with 1D approximated tissue motion.
- To develop and evaluate a motion compensation instrument (MCI) and an extended Kalman filter (EKF) for real-time surgical guidance.
Main Methods:
- Characterization of mitral valve annulus motion to confirm suitability for 1D models.
- Development of a motion compensation instrument (MCI) and an extended Kalman filter (EKF).
- User trials under non-ideal tracking conditions and in vitro 3D ultrasound-guided servoing tasks.
Main Results:
- The MCI demonstrated an approximate 50% increase in dexterity and 50% decrease in force compared to a solid tool.
- System performance was sensitive to time delays, but the EKF successfully compensated, restoring performance even with high heart rate variability.
- Accurate tracking (1.15 mm root mean square) was achieved in noisy, time-delayed 3D ultrasound measurements.
Conclusions:
- Motion compensation significantly enhances surgical tool performance in 3D ultrasound-guided procedures.
- The developed MCI, coupled with EKF-based delay compensation, offers a robust solution for improving surgical precision in challenging cardiac environments.
- This technology holds promise for advancing minimally invasive intracardiac interventions.
