Yuen, Shelten G.Vasilyev, NikolayDel Nido, PedroHowe, Robert2015-09-022013Yuen, Shelten G., Nikolay V. Vasilyev, Pedro J. del Nido, and Robert D. Howe. 2013. “Robotic Tissue Tracking for Beating Heart Mitral Valve Surgery.” Medical Image Analysis 17 (8) (December): 1236–1242. doi:10.1016/j.media.2010.06.007.1361-8423http://nrs.harvard.edu/urn-3:HUL.InstRepos:22086932The rapid motion of the heart presents a significant challenge to the surgeon during intracardiac beating heart procedures. We present a 3D ultrasound-guided motion compensation system that assists the surgeon by synchronizing instrument motion with the heart. The system utilizes the fact that certain intracardiac structures, like the mitral valve annulus, have trajectories that are largely constrained to translation along one axis. This allows the development of a real-time 3D ultrasound tissue tracker that we integrate with a 1 degree-of-freedom (DOF) actuated surgical instrument and predictive filter to devise a motion tracking system adapted to mitral valve annuloplasty. In vivo experiments demonstrate that the system provides highly accurate tracking (1.0mm error) with 70%less error than manual tracking attempts.en-US3D ultrasoundreal-time tissue trackingmotion compensationmedical roboticsbeating heart surgeryJournal Article2016-01-0110.1016/j.media.2010.06.007