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Towards robot-assisted anchor deployment in beating-heart mitral valve surgery
Lingbo Cheng1, Mojtaba Sharifi2, Mahdi Tavakoli1
1Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, Canada.
Summary
This study introduces a novel telerobotic system for beating-heart surgery, enhancing anchor deployment success by 100% and reducing excess force by 70% for safer cardiac procedures.
Area of Science:
- Minimally Invasive Cardiac Surgery
- Robotics in Medicine
- Medical Imaging and Ultrasound
Background:
- Beating-heart intracardiac surgery offers patient benefits over cardiopulmonary bypass.
- The primary challenge in beating-heart surgery is managing rapid cardiac motion.
Purpose of the Study:
- To develop and evaluate a novel impedance-controlled master-slave telerobotic system.
- To enable precise anchor deployment for mitral valve annuloplasty during beating-heart surgery.
- To provide haptic feedback and motion compensation for surgical tasks on moving organs.
Main Methods:
- Development of a bilateral teleoperation system with impedance control.
- Integration of live ultrasound imaging for surgical guidance.
- Evaluation using a simulated moving heart tissue model for anchor deployment.
- Implementation of rapid compensation for beating heart motion.
Main Results:
- The telerobotic system demonstrated a 100% increase in successful anchor deployment.
- Excessive force application was reduced by 70% compared to manual methods.
- The system effectively compensated for cardiac motion during the simulated surgical task.
Conclusions:
- The developed telerobotic system significantly improves the safety and efficacy of beating-heart intracardiac procedures.
- This technology holds promise for overcoming the challenges posed by cardiac motion in minimally invasive surgery.
- Enhanced haptic feedback and motion compensation are critical for successful robotic cardiac interventions.
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