Feasibility of infrared tracking of beating heart motion for robotic assisted beating heart surgery

Mansouri, S. and Farahmand, F. and Vossoughi, G. and Ghavidel, A.A. and Rezayat, M. (2018) Feasibility of infrared tracking of beating heart motion for robotic assisted beating heart surgery. International Journal of Medical Robotics and Computer Assisted Surgery, 14 (1).

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Abstract

Background: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. Method: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. Results: Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance. The animal experiment revealed the applicability of the infrared tracker with passive markers in practical heart surgery conditions. Conclusion: With the current technology, infrared tracking with passive markers might be the optimal solution for accurate, fast, and reliable tracking of heart motion during robot assisted beating heart surgery. Copyright © 2017 John Wiley & Sons, Ltd.

Item Type: Article
Additional Information: cited By 0
Depositing User: eprints admin
Date Deposited: 05 Aug 2018 04:05
Last Modified: 05 Aug 2018 04:05
URI: http://eprints.iums.ac.ir/id/eprint/681

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