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MR-Based Real Time Path Planning for Cardiac Operations with Transapical Access

  • Erol Yeniaras
  • Nikhil V. Navkar
  • Ahmet E. Sonmez
  • Dipan J. Shah
  • Zhigang Deng
  • Nikolaos V. Tsekos
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6891)

Abstract

Minimally invasive surgeries (MIS) have been perpetually evolving due to their potential high impact on improving patient management and overall cost effectiveness. Currently, MIS are further strengthened by the incorporation of magnetic resonance imaging (MRI) for amended visualization and high precision. Motivated by the fact that real-time MRI is emerging as a feasible modality especially for guiding interventions and surgeries in the beating heart; in this paper we introduce a real-time path planning algorithm for intracardiac procedures. Our approach creates a volumetric safety zone inside a beating heart and updates it on-the-fly using real-time MRI during the deployment of a robotic device. In order to prove the concept and assess the feasibility of the introduced method, a realistic operational scenario of transapical aortic valve replacement in a beating heart is chosen as the virtual case study.

Keywords

Real time MRI Image Guided Surgeries Beating Heart 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Erol Yeniaras
    • 1
  • Nikhil V. Navkar
    • 1
    • 2
  • Ahmet E. Sonmez
    • 1
  • Dipan J. Shah
    • 3
  • Zhigang Deng
    • 2
  • Nikolaos V. Tsekos
    • 1
  1. 1.Medical Robotics LabUniversity of HoustonHoustonUSA
  2. 2.Computer Graphics and Interactive Media Lab, Department of Computer ScienceUniversity of HoustonHoustonUSA
  3. 3.Methodist DeBakey Heart & Vascular CenterHoustonUSA

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