Robotic Force Stabilization for Beating Heart Intracardiac Surgery

Authors:
Shelten G. Yuen;Michael C. Yip;Nikolay V. Vasilyev;Douglas P. Perrin;Pedro J. Nido;Robert D. Howe
Affiliations:
Harvard School of Engineering and Applied Sciences, Cambridge;Harvard School of Engineering and Applied Sciences, Cambridge;Department of Cardiovascular Surgery, Children's Hospital Boston;Department of Cardiovascular Surgery, Children's Hospital Boston;Department of Cardiovascular Surgery, Children's Hospital Boston;Harvard School of Engineering and Applied Sciences, Cambridge and Harvard-MIT Division of Health Sciences & Technology, Cambridge
Venue:
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Year:
2009

Citing 6
Cited 2

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Abstract

The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to surgeons. We present a new robotic force stabilization system that assists surgeons by maintaining a constant contact force with the beating heart. The system incorporates a novel, miniature uniaxial force sensor that is mounted to surgical instrumentation to measure contact forces during surgical manipulation. Using this sensor in conjunction with real-time tissue motion information derived from 3D ultrasound, we show that a force controller with feed-forward motion terms can provide safe and accurate force stabilization in an in vivo contact task against the beating mitral valve annulus. This confers a 50% reduction in force fluctuations when compared to a standard force controller and a 75% reduction in fluctuations when compared to manual attempts to maintain the same force.