A system for 3D ultrasound-guided robotic retrieval of foreign bodies from a beating heart

Thienphrapa, Paul; Taylor, Russell H.; Popović, Aleksandra

doi:10.1109/biorob.2012.6290256

Cited by 3 publications

(3 citation statements)

References 23 publications

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“…Despite the challenging robot performance requirements, a straightforward chasing experiment was nevertheless attempted using a low dexterity robot [9]. However, for the robot to reach the target to within a reasonable amount of error (2.1 mm), the speed of the virtual target had to be reduced by a factor of 9.…”

Section: A Tracking and Motion Characterizationmentioning

confidence: 99%

“…1 In a previous study we tracked a foreign body in a beating heart phantom to characterize foreign body motion [8]. Then using an existing surgical robot, we demonstrated that the motion of the foreign body exceeds the ability of the robot to pursue it [9]. We thus introduced indirect capture strategies [8], [10] in which the moving target is ambushed rather than chased, thereby relaxing robot performance requirements.…”

Section: Introductionmentioning

confidence: 96%

“…We test our 3D TEE-based tracking and capture strategies in a live setting through experiments involving the retrieval of a foreign body from a beating heart phantom. A brief summary of the present system appears in an abstract [11]. The current paper presents the system in considerably more detail and includes new experimental results.…”

Section: Introductionmentioning

confidence: 97%

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Guidance of a high dexterity robot under 3D ultrasound for minimally invasive retrieval of foreign bodies from a beating heart

Thienphrapa

Popović

Taylor³

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Particles such as thrombi, bullet fragments, and shrapnel can become trapped in a person's heart after migrating through the venous system, or by direct penetration. These cardiac foreign bodies pose a serious health risk as they can interfere with cardiovascular function. Conventional treatment often requires open heart surgery, cardiopulmonary bypass, and a long incision of the heart muscle, which come with significant risk and recovery time. To circumvent these disadvantages, we propose a minimally invasive surgical approach using 3D ultrasound to guide a dexterous robotic capture device.Analysis of the foreign body trajectory indicates highly erratic motion, rendering a robotic retrieval strategy based on direct pursuit of the tracked target infeasible. To provide a relatively slow robot with the ability to retrieve such a target, we propose alternative strategies based on guiding a robot to a salient capture location, and ambushing the target upon its reappearance. In this paper, we demonstrate the use of 3D transesophageal echocardiography (TEE) in tracking a foreign body in a beating heart phantom, computing a suitable capture location, and guiding a high dexterity robot to secure the target.

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Section: A Tracking and Motion Characterizationmentioning

confidence: 99%