MR-Based Real Time Path Planning for Cardiac Operations with Transapical Access
MR-Based Real Time Path Planning for Cardiac Operations with Transapical Access
复制标题
基于 MR 的经心尖入路心脏手术实时路径规划
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
N. Tsekos
中科院分区：
文献类型：
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作者：
E. Yeniaras;N. Navkar;A. E. Sonmez;D. Shah;Z. Deng;N. Tsekos
微创手术 (MIS) 因其对改善患者管理和整体成本效益的潜在巨大影响而不断发展。目前，通过结合磁共振成像 (MRI) 来改进可视化和高精度，MIS 得到进一步加强。受到以下事实的推动：实时 MRI 正在成为一种可行的方式，特别是用于指导跳动心脏的干预和手术；在本文中，我们介绍了一种用于心内手术的实时路径规划算法。我们的方法在跳动的心脏内创建一个体积安全区，并在部署机器人设备期间使用实时 MRI 动态更新它。为了证明这一概念并评估所引入方法的可行性，选择在不停跳的心脏中进行经心尖主动脉瓣置换术的真实操作场景作为虚拟案例研究。
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.