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Towards a new cyber-physical system for MRI-guided and robot-assisted cardiac procedures

Towards a new cyber-physical system for MRI-guided and robot-assisted cardiac procedures,10.1109/ITAB.2010.5687664,Erol Yeniaras,Johann Lamaury,Zhigan

Towards a new cyber-physical system for MRI-guided and robot-assisted cardiac procedures   (Citations: 2)
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Image-guided and robot-assisted minimally invasive surgical procedures are rapidly evolving due to their improved patient management and potential cost effectiveness. Currently, robot-assisted intracardiac surgeries on the beating heart are still in their infancy due to the challenges associated with the dynamic environment of operation. An approach to address those challenges is the use of Magnetic Resonance Imaging (MRI) for preoperative planning as well as for real-time intraoperative guidance. The objective of this paper is to propose a novel cyber-physical system for planning and performing robot-assisted MRI guided interventions in the beating heart with particular focus on aortic valve implantations. Our ongoing research focuses on developing a computational core for MRI-based preoperative planning and generation of dynamic robot maneuvering trajectories, real-time tissue tracking, and a novel MR-compatible robotic manipulator for transapical access to the beating heart.
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    • ...This paper introduces the design of an intracardiac surgical system that includes necessary computational tools and software modules for creating a realistic visualization of the beating heart based on MRI [15]...
    • ...Whereas the computational core has the routines to interface with a suitable MR scanner for online operation, in this work the system was tested offline with the cine images due to hardware setup limitations of the particular scanner [15-18]...
    • ...Fig. 2, on a long axis slice, depicts the trajectory which is to be updated on-the-fly as the procedure evolves, to reflect the morphologic changes in the beating heart [15, 19]...

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

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