Sciweavers

Share
IROS
2007
IEEE

An active motion compensation instrument for beating heart mitral valve surgery

10 years 5 months ago
An active motion compensation instrument for beating heart mitral valve surgery
—New 3D ultrasound visualization has enabled minimally invasive, beating-heart intracardiac procedures. However, rapid motion of internal heart structures limits the realization of these new procedures. This paper investigates the concept of using a single actuator to compensate for tissue motions which occurs largely in one direction. We characterize mitral valve annulus motion and show that it is well approximated by a 1D model. The subsequent development of a motion-compensating tool (MCT) is described. The resulting instrument was tested in user trials under a series of positional error and tracking delay conditions. Results indicate that the MCT provides an approximately 50% increase in dexterity and 50% decrease in applied force in comparison to a solid tool. The study also shows that MCT tracking efficacy is highly dependent on tracking delays, indicating the importance of predictive, cyclical control algorithms.
Daniel T. Kettler, Richard D. Plowes, Paul M. Novo
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Daniel T. Kettler, Richard D. Plowes, Paul M. Novotny, Nikolay V. Vasilyev, Pedro J. del Nido, Robert D. Howe
Comments (0)
books