Toward robotized beating heart TECABG: assessment of the heart dynamics using high-speed vision

Authors:
Loïc Cuvillon;Jacques Gangloff;Michel de Mathelin;Antonello Forgione
Affiliations:
LSIIT /AVR, MR CNRS-LP, Strasbourg I University, France;LSIIT /AVR, MR CNRS-LP, Strasbourg I University, France;LSIIT /EAVR, MR CNRS-ULP, Strasbourg I University, France;IRCAD /EITS, University Hospital of Strasbourg, France
Venue:
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
Year:
2005

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Abstract

Active robotic filtering is a promising solution for beating heart Totally Endoscopic Coronary Artery Bypass Grafting (TECABG). In this work, we assess the heart motion dynamics using simultaneously high speed imaging of optical markers attached to the heart, ECG signals and ventilator airflow acquisitions. Our goal is to make an assessment of the heart motion (shape, velocity, acceleration) in order to be able to make more accurate specifications for a dedicated robot that could follow this motion in real-time. Furthermore, using the 2 additional inputs (ECG, airflow), we propose a prediction algorithm of the motion that could be used with a predictive control algorithm to improve the tracking accuracy.