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Feasibility of Infrared Tracking of Beating Heart Motion for Robotic Assisted Beating Heart Surgery Publisher Pubmed



Mansouri S1 ; Farahmand F1, 2 ; Vossoughi G1 ; Ghavidel AA3 ; Rezayat M2
Authors
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Authors Affiliations
  1. 1. Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
  2. 2. RCBTR, Tehran University of Medical Sciences, Tehran, Iran
  3. 3. Heart Valve Disease Research Center, Rajaie Cardiovascular Medical and Research Center, Iran University of Medical Sciences, Tehran, Iran

Source: International Journal of Medical Robotics and Computer Assisted Surgery Published:2018


Abstract

Background: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. Method: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. Results: Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance. The animal experiment revealed the applicability of the infrared tracker with passive markers in practical heart surgery conditions. Conclusion: With the current technology, infrared tracking with passive markers might be the optimal solution for accurate, fast, and reliable tracking of heart motion during robot assisted beating heart surgery. Copyright © 2017 John Wiley & Sons, Ltd.
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