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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Title: Ultrasound Servoing of Catheters for Beating Heart Valve Repair
Author: Kesner, Samuel Benjamin; Yuen, Shelten G.; Howe, Robert D.

Note: Order does not necessarily reflect citation order of authors.

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.
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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.
Published Version: http://www.springer.com/computer/hci/book/978-3-642-13710-5
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:4262333
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