ICRA 2011 Paper Abstract

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Paper ThP213.4

Yeniaras, Erol (University of Houston), Lamaury, Johann (LIRMM University of Montpellier), Navkar, Nikhil Vishwas (University of Houston), Shah, Dipan J. (Methodist DeBakey Heart & Vascular Center), Chin, Karen (Methodist DeBakey Heart & Vascular Center), Deng, Zhigang (University of Houston), Tsekos, Nikolaos (University of Houston)

Magnetic Resonance Based Control of a Robotic Manipulator for Interventions in the Beating Heart

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems VIII" (ThP213), Thursday, May 12, 2011, 16:10−16:25, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Virtual Reality and Interfaces, Medical Robots and Systems

Abstract

As a part of an ongoing project, in this paper we introduce the first version of a system which has a novel methodology for Cine (as in cinema) MRI based control of a cardiac robot for beating heart surgeries. The system uses the preoperative planning approach that we developed earlier, and integrates it to the intraoperative algorithms for controlling a robot and tracking some specific landmarks of a highly dynamical surgical field. In particular, our late studies presented herein aim to demonstrate the feasibility of integrating appropriate computational tools to achieve the volumetric image guidance for minimally invasive surgeries in the beating heart. We conceive of the system as practicable for in vitro experiments upon the completion of the first physical prototype, which may pave the way for expansion of the approach for other complex surgeries as well.

 

 

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