ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2018
Beating-heart registration for organ-mounted robots.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Development of a Flexible Parallel Wire Robot for Epicardial Interventions.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
- Organ-mounted robot localization via function approximation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2019Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
backgroundOrgan-mounted robots address the problem of beating-heart surgery by adhering to the heart, passively providing a platform that approaches zero relative motion. Because of the quasi-periodic deformation of the heart due to heartbeat and respiration, registration must address not only spatial registration but also temporal registration.
methodsMotion data were collected in the porcine model in vivo (N = 6). Fourier series models of heart motion were developed. By comparing registrations generated using an iterative closest-point approach at different phases of respiration, the phase corresponding to minimum registration distance is identified.
resultsThe spatiotemporal registration technique presented here reduces registration error by an average of 4.2 mm over the 6 trials, in comparison with a more simplistic static registration that merely averages out the physiological motion.
conclusionsAn empirical metric for spatiotemporal registration of organ-mounted robots is defined and demonstrated using data from animal models in vivo.
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