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A Comprehensive Multimodality Heart Motion Prediction Algorithm for Robotic-Assisted Beating Heart Surgery Publisher Pubmed



Mansouri S1 ; Farahmand F1, 2 ; Vossoughi G1 ; Ghavidel AA3
Authors
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Authors Affiliations
  1. 1. Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
  2. 2. Research Center of Biomedical Technology and Robotics, 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:2019


Abstract

Background: An essential requirement for performing robotic-assisted surgery on a freely beating heart is a prediction algorithm that can estimate the future heart trajectory. Method: Heart motion, respiratory volume (RV) and electrocardiogram (ECG) signal were measured from two dogs during thoracotomy surgery. A comprehensive multimodality prediction algorithm was developed based on the multivariate autoregressive model to incorporate the heart trajectory and cardiorespiratory data with multiple inherent measurement rates explicitly. Results: Experimental results indicated strong relationships between the dominant frequencies of heart motion with RV and ECG. The prediction algorithm revealed a high steady state accuracy, with the root mean square (RMS) errors in the range of 82 to 162 μm for a 300-second interval, less than half of that of the best competitor. Conclusion: The proposed multimodality prediction algorithm is promising for practical use in robotic assisted beating heart surgery, considering its capability of providing highly accurate predictions in long horizons. © 2018 John Wiley & Sons, Ltd.
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1. A Hybrid Algorithm for Prediction of Varying Heart Rate Motion in Computer-Assisted Beating Heart Surgery, Journal of Medical Systems (2018)
2. Feasibility of Infrared Tracking of Beating Heart Motion for Robotic Assisted Beating Heart Surgery, International Journal of Medical Robotics and Computer Assisted Surgery (2018)
3. A Minimally Invasive Robotic Surgery Approach to Perform Totally Endoscopic Coronary Artery Bypass on Beating Hearts, Medical Hypotheses (2019)
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