Document Detail

A Framework for Integrating real-time MRI with Robot Control: Application to Simulated Transapical Cardiac Interventions.
MedLine Citation:
PMID:  23221795     Owner:  NLM     Status:  Publisher    
The advent of intraoperative real-time image guidance has led to the emergence of new surgical interventional paradigms including image-guided robot assistance. Most often the use of an intraoperative imaging modality is limited to visual perception of the area of procedure. In this work, we propose a framework for performing robot-assisted interventions with real-time Magnetic Resonance Imaging (rtMRI) guidance. The described computational core of this framework, processes onthe- fly rtMRI, integrates the processed information with robot control and renders it on the human-machine interfaces. This information is rendered on a visualization and force-feedback interface for enhanced perception of a dynamic area of procedure and for assisting the operator in the safe and accurate maneuvering of a robotic manipulator. The framework was experimentally tested by applying it to a simulated Transapical Aortic Valve Implantation with a virtual robotic manipulator. rtMRI data was processed on-the-fly in a rolling-window scheme and together with a multi-threaded and multi-hardware implementation, the core delivered appropriate speed of 20Hz for visualization and 1000Hz for force-feedback. The experimental results demonstrate significant improvement in the simulated task by both decreasing the duration of the procedure by half and increasing safety in the presence of cardiac and breathing motion by reducing the duration or incidents the operator collides with the tissue.
N Navkar; Z Deng; D Shah; N Tsekos
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Publication Detail:
Type:  JOURNAL ARTICLE     Date:  2012-12-03
Journal Detail:
Title:  IEEE transactions on bio-medical engineering     Volume:  -     ISSN:  1558-2531     ISO Abbreviation:  IEEE Trans Biomed Eng     Publication Date:  2012 Dec 
Date Detail:
Created Date:  2012-12-10     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  0012737     Medline TA:  IEEE Trans Biomed Eng     Country:  -    
Other Details:
Languages:  ENG     Pagination:  -     Citation Subset:  -    
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