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Robotic System for Transapical Aortic Valve Replacement with MRI Guidance

Robotic System for Transapical Aortic Valve Replacement with MRI Guidance,10.1007/978-3-540-85990-1_57,Ming Li,Dumitru Mazilu,Keith A. Horvath

Robotic System for Transapical Aortic Valve Replacement with MRI Guidance   (Citations: 13)
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This paper reports our work on developing a robotic surgical system for transapical beating heart aortic valve replacement (AVR) under interactive real-time magnetic resonance imaging (rtMRI) guidance. Our system integrates a real-time MRI system, a compound MRI robot, as well as an interface for the surgeon to plan the procedure and manipulate the robot. The compound robot consists of a positioning module and a valve delivery module. A 5-DOF Innomotion positioning arm provides and maintains direct access to the native aortic valve. A newly developed 3-DOF robotic valve delivery module allows the surgeon to remotely control bioprosthetic valve delivery with MRI guidance. Preliminary evaluation of the parameters of the robotic system demonstrates it can provide sufficient capability to successfully assist the surgeon.
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    • ...vision is a relatively new topic which has been investigated by only a few teams [3-6]...
    • ...RT magnetic resonance imaging (MRI) is another promising modality for IGI in the heart [4-11]...
    • ...In spite of these difficulties, a number of MRIcompatible robotic systems have been developed [12-14], which resulted in enabling technologies that could contribute to performing MRI guided complex MIS including transapical aortic valve implantations [4-6]...
    • ...In practice, a single or a limited number of intraoblique slices can be used for fast imaging of the LV and update of the preimaged oblique slab(s) of the SC (as reported previously [4, 5])...

    Erol Yeniaraset al. Magnetic resonance based control of a robotic manipulator for interven...

    • ...Some research groups and companies are experimenting with offpump surgical tasks; e.g., Linte et al. [1] developed the augmented reality environment for off-pump mitral valve implantation, and Ming et al. [2] developed a magnetic resonance imaging (MRI)-compatible robot to assist with off-pump artificial aortic valve replacement...

    Tetsuya Horiuchiet al. Endoscope system with plasma flushing and coaxial round jet nozzle for...

    • ...However, the aforementioned benefits have led numerous research efforts on the development of MRI-guided TAVI procedures [5, 6, 7]...
    • ...Minimally invasive image-guided robot-assisted systems have been proposed for transapical aortic valve replacement [6]...
    • ...The latter property is pursued in view of the emerging MRI-guided aortic valve implantation with robotic assistance [5] or without it [6]...
    • ...This will enable the application of this method for guiding robot-assisted prosthetic valve delivery system for aortic valve replacement under real-time-MRI guidance via transapical approach [5, 6]. The imaging planes used by our method to detect the AVA have the similar orientations to those of RT-MRI planes for guiding the robot’s end effector...

    Nikhil V. Navkaret al. Extracting geometric features of aortic valve annulus motion from dyna...

    • ...Our group is currently focusing on developing robotic assistance for aortic valve replacement under MRI guidance [17], [18]...
    • ...is a cylindrical shape with three commissures evenly spread at its circular base [17]...

    Ming Liet al. Pneumatic Actuated Robotic Assistant System for Aortic Valve Replaceme...

    • ...MR guided robot-assisted interventions have evolved significantly in recent years [10] and lately MR guidance has been demonstrated to be successful in transapical aortic valve interventions [11, 12]...

    Nicholas von Sternberget al. Design of an actuated phantom to mimic the motion of cardiac landmarks...

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