Robotic system for transapical aortic valve replacement with MRI guidance.
Robotic system for transapical aortic valve replacement with MRI guidance.
复制标题
MRI 引导下经心尖主动脉瓣置换的机器人系统。
DOI：
10.1007/978-3-540-85990-1_57
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Horvath,KeithA
中科院分区：
文献类型：
--
作者：
Li,Ming;Mazilu,Dumitru;Horvath,KeithA
本文报告了我们在交互式实时磁共振成像 (rtMRI) 指导下开发用于经心尖搏动心脏主动脉瓣置换术 (AVR) 的机器人手术系统的工作。我们的系统集成了实时 MRI 系统、复合 MRI 机器人以及供外科医生规划手术和操作机器人的界面。复合机器人由定位模块和阀门输送模块组成。 5-DOF Innomotion 定位臂提供并保持对天然主动脉瓣的直接访问。新开发的 3-DOF 机器人瓣膜输送模块允许外科医生在 MRI 引导下远程控制生物瓣膜输送。对机器人系统参数的初步评估表明，它可以提供足够的能力来成功协助外科医生。
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.