Fixing the Beating Heart: Ultrasound Guidance for Robotic Intracardiac Surgery
Speaker: Robert Howe , Harvard University
Date: February 20 2009
Time: 2:00PM to 3:00PM
Location: 32-D463 (Star) -- NOTE SPECIAL LOCATION
Host: Polina Golland, CSAIL
Contact: Polina Golland, x38005, polina@csail.mit.edu
Relevant URL: To treat defects within the heart, surgeons currently use
stopped-heart techniques. These procedures are highly invasive and
incur a significant risk of neurological impairment. We are developing
methods for performing surgery within the heart while it is
beating. New real-time 3-D ultrasound imaging allows visualization
through the opaque blood pool, but this imaging modality poses
difficult image processing challenges, including poor resolution,
acoustic artifacts, and data rates of 30 to 40 million voxels per
second. To track instruments within the heart we have developed a
Radon transform-based algorithm. Implementation using a graphics
processor unit (GPU) enables real-time processing of the ultrasound
data stream. For manipulation of rapidly moving cardiac tissue we have
created a fast robotic device that can track the tissue based on
ultrasound image features. This allows the surgeon to interact with
the heart as if it was stationary. Our in vitro studies show that this
approach enhances dexterity and lowers applied forces. To complete
integration of ultrasound imaging with the robotic device we have
developed a predictive controller that compensates for the imaging and
image processing delays to ensure good tracking performance. We will
present applications of this technology in atrial septal defect
closure and mitral valve annuloplasty procedures, demonstrating the
potential for improved patient outcomes.
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