Ultrasound Servoing of Catheters for Beating Heart Valve Repair

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Ultrasound Servoing of Catheters for Beating Heart Valve Repair

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dc.contributor.author Kesner, Samuel Benjamin
dc.contributor.author Yuen, Shelten G.
dc.contributor.author Howe, Robert D.
dc.date.accessioned 2010-06-24T13:23:10Z
dc.date.issued 2010
dc.identifier.citation Kesner, Samuel B., Shelten G. Yuen, and Robert D. Howe. 2010. Ultrasound servoing of catheters for beating heart valve repair. In Information Processing in Computer-Assisted Interventions, ed. N. Navab, Nassir and P. Jannin. Springer. Previously published in Lecture Notes in Computer Science 6135. en_US
dc.identifier.isbn 978-3-642-13710-5 en_US
dc.identifier.issn 0302-9743 en_US
dc.identifier.uri http://nrs.harvard.edu/urn-3:HUL.InstRepos:4262333
dc.description.abstract Robotic cardiac catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, catheter technologies are currently unable to track fast tissue motion, which is required to perform delicate procedures inside a beating heart. This paper presents an actuated catheter tool that compensates for the motion of heart structures like the mitral valve apparatus by servoing a catheter guidewire inside a flexible sheath. We examine design and operation parameters and establish that friction and backlash limit the tracking performance of the catheter system. Based on the results of these experiments, we implement compensation methods to improve trajectory tracking. The catheter system is then integrated with an ultrasound-based visual servoing system to enable fast tissue tracking. In vivo tests show RMS tracking errors of 0.77 mm for following the porcine mitral valve annulus trajectory. The results demonstrate that an ultrasound-guided robotic catheter system can accurately track the fast motion of the mitral valve. en_US
dc.description.sponsorship Engineering and Applied Sciences en_US
dc.language.iso en_US en_US
dc.publisher Springer Verlag en_US
dc.relation.isversionof http://www.springer.com/computer/hci/book/978-3-642-13710-5 en_US
dash.license OAP
dc.title Ultrasound Servoing of Catheters for Beating Heart Valve Repair en_US
dc.type Conference Paper en_US
dc.description.version Accepted Manuscript en_US
dc.relation.journal Lecture Notes in Computer Science en_US
dash.depositing.author Howe, Robert D.
dc.date.available 2010-06-24T13:23:10Z

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  • FAS Scholarly Articles [7362]
    Peer reviewed scholarly articles from the Faculty of Arts and Sciences of Harvard University

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