Tehran University of Medical Sciences

Science Communicator Platform

Stay connected! Follow us on X network (Twitter):
Share By
Feasibility of Infrared Tracking of Beating Heart Motion for Robotic Assisted Beating Heart Surgery Publisher Pubmed



Mansouri S1 ; Farahmand F1, 2 ; Vossoughi G1 ; Ghavidel AA3 ; Rezayat M2
Authors

Source: International Journal of Medical Robotics and Computer Assisted Surgery Published:2018


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.
Other Related Docs
5. Real-Time Tracking of Laparoscopic Instruments Using Kinect for Training in Virtual Reality, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society# EMBS (2016)
6. An Extended Algorithm for Autonomous Grasping of Soft Tissues During Robotic Surgery, International Journal of Medical Robotics and Computer Assisted Surgery (2020)