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dc.contributor.authorKesner, Samuel Benjamin
dc.contributor.authorYuen, Shelten G.
dc.contributor.authorHowe, Robert D.
dc.date.accessioned2010-06-24T13:23:10Z
dc.date.issued2010
dc.identifier.citationKesner, 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.isbn978-3-642-13710-5en_US
dc.identifier.issn0302-9743en_US
dc.identifier.urihttp://nrs.harvard.edu/urn-3:HUL.InstRepos:4262333
dc.description.abstractRobotic 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.sponsorshipEngineering and Applied Sciencesen_US
dc.language.isoen_USen_US
dc.publisherSpringer Verlagen_US
dc.relation.isversionofhttp://www.springer.com/computer/hci/book/978-3-642-13710-5en_US
dash.licenseOAP
dc.titleUltrasound Servoing of Catheters for Beating Heart Valve Repairen_US
dc.typeConference Paperen_US
dc.description.versionAccepted Manuscripten_US
dc.relation.journalLecture Notes in Computer Scienceen_US
dash.depositing.authorHowe, Robert D.
dc.date.available2010-06-24T13:23:10Z
dc.identifier.doi10.1007/978-3-642-13711-2_16
dash.contributor.affiliatedKesner, Samuel
dash.contributor.affiliatedHowe, Robert


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