Magnetic resonance based control of a robotic manipulator for interventions in the beating heart

Erol Yeniaras; Johann Lamaury; Nikhil V. Navkar; Dipan J. Shah; Karen Chin; Zhigang Deng; Nikolaos V. Tsekos

doi:10.1109/ICRA.2011.5980459

Magnetic resonance based control of a robotic manipulator for interventions in the beating heart

Erol Yeniaras, Johann Lamaury, Nikhil V. Navkar, Dipan J. Shah, Karen Chin, Zhigang Deng, Nikolaos V. Tsekos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Scopus citations

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.

Original language	English (US)
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	6270-6275
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5980459
State	Published - Dec 1 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011

Other

Other	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	5/9/11 → 5/13/11

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2011.5980459

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Yeniaras, E, Lamaury, J, Navkar, NV, Shah, DJ, Chin, K, Deng, Z & Tsekos, NV 2011, Magnetic resonance based control of a robotic manipulator for interventions in the beating heart. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980459, pp. 6270-6275, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5980459

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AU - Deng, Zhigang

AU - Tsekos, Nikolaos V.

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Magnetic resonance based control of a robotic manipulator for interventions in the beating heart

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