Beating-Heart Registration for Organ-Mounted Robots
Abstract
Background: Organ-mounted robots address the problem of beating-heart surgery by adhering to the heart, passively providing a platform approaching 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.
Methods: Motion 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 respiration phases, the phase corresponding to minimum registration distance is identified.
Results: The spatiotemporal registration technique presented here reduces registration error by an average of 4.2 mm over the six trials, in comparison with a more simplistic static registration that merely averages out the physiological motion.
Conclusions: An empirical metric for spatiotemporal registration of organ-mounted robots is defined and demonstrated using data from animal models in vivo.
BibTeX
@article{Wood-2018-110283,author = {Nathan A. Wood and David Schwartzman and Michael J. Passineau and Robert J. Moraca and Marco A. Zenati and Cameron N. Riviere},
title = {Beating-Heart Registration for Organ-Mounted Robots},
journal = {International Journal of Medical Robotics and Computer Assisted Surgery},
year = {2018},
month = {August},
volume = {14},
number = {4},
pages = {e1905},
keywords = {medical robotics, cardiac surgery, physiological motion compensation, registration},
}