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5 results on '"Beating heart surgery"'

1. Cardioscopically-guided beating heart surgery: paravalvular leak repair

Author

Karl Price, Christopher W. Baird, Benoit Rosa, Vinod H. Thourani, David W. Brown, Pedro J. del Nido, Margherita Mencattelli, Zurab Machaidze, Borami Shin, Michael A. Borger, Sunil Manjila, Pierre E. Dupont, John E. Mayer, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Reoperation, Pulmonary and Respiratory Medicine, Aortic valve, Cardiac Catheterization, medicine.medical_specialty, Swine, Aortic Valve Insufficiency, Echocardiography, Three-Dimensional, Context (language use), 030204 cardiovascular system & hematology, Article, Intracardiac injection, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Cardioscope, Internal medicine, Occlusion, medicine, Animals, Paravalvular leak, Cardiac Surgical Procedures, business.industry, Beating heart surgery, Mitral Valve Insufficiency, Endoscopy, Prosthesis Failure, Disease Models, Animal, medicine.anatomical_structure, 030228 respiratory system, Ventricle, Heart Valve Prosthesis, Cardiology, Surgery, Cardiology and Cardiovascular Medicine, business, Echocardiography, Transesophageal
Abstract

Purpose There remains a paucity of direct visualization techniques for beating-heart intracardiac procedures. To address this need, we evaluated a novel cardioscope in the context of aortic paravalvular leaks (PVLs) localization and closure. Description A porcine aortic PVL model was created using a custom-made bioprosthetic valve, and PVL presence was verified by epicardial echocardiography. Transapical delivery of occlusion devices guided solely by cardioscopy was attempted 13 times in a total of three pigs. Device retrieval after release was attempted six times. Echocardiography, morphologic evaluation, and delivery time were used to assess results. Evaluation Cardioscopic imaging enabled localization of PVLs via visualization of regurgitant jet flow in a paravalvular channel at the base of the prosthetic aortic valve. Occluders were successfully placed in 11 of 13 attempts (84.6%), taking on average 3:03 ± 1:34 min. Devices were cardioscopically removed successfully in three of six attempts (50%), taking 3:41 ± 1:46 min. No damage to the ventricle or annulus was observed at necropsy. Conclusions Cardioscopy can facilitate intracardiac interventions by providing direct visualization of anatomic structures inside the blood-filled, beating-heart model.

Published
2017
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2. 3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model

Author

Nabil Zemiti, Chao Liu, Philippe Poignet, Pedro Moreira, Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Artificial movement and gait restoration (DEMAR), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Robotique médicale et mécanismes parallèles (DEXTER), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)

Subjects
0209 industrial biotechnology, Engineering, medicine.medical_specialty, Time Factors, Property (programming), 0206 medical engineering, Cardiology, 02 engineering and technology, Viscoelasticity, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Motion, 020901 industrial engineering & automation, Imaging, Three-Dimensional, medicine, Humans, Minimally Invasive Surgical Procedures, Computer Simulation, Cardiac Surgical Procedures, Simulation, Motion compensation, Models, Statistical, business.industry, Viscosity, Work (physics), Beating heart surgery, Biomechanics, Reproducibility of Results, Thoracic Surgery, Robotics, Models, Theoretical, 020601 biomedical engineering, Myocardial Contraction, Elasticity, Cardiac surgery, Robot, business
Abstract

International audience; Current cardiac surgery faces the challenging problem of heart beating motion even with the help of mechanical stabilizer which makes delicate operation on the heart surface difficult. Motion compensation methods for robotic-assisted beating heart surgery have been proposed recently in literature, but research on force control for such kind of surgery has hardly been reported. Moreover, the viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In this work, we present a three-dimensional force control method for robotic-assisted beating heart surgery taking into consideration of the viscoelastic interaction property. Performance studies based on our D2M2 robot and 3D heart beating motion information obtained through Da Vinci™ system are provided.

Published
2011
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3. Active stabilization for robotized beating heart surgery

Author

Jacques Gangloff, Edouard Laroche, Pierre Renaud, Antonello Forgione, Wael Bachta, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Institut de Recherche Contre les Cancers de l'Appareil Digestif-European Institute of Telesurgery (IRCAD/EITS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), and BACHTA, Wael

Subjects
0209 industrial biotechnology, Beating heart, Bypass grafting, Computer science, Heart motion, 0206 medical engineering, Beating heart surgery, Compliant mechanism, 02 engineering and technology, Stabilizer (aeronautics), 020601 biomedical engineering, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Medical robotics, Control and Systems Engineering, Active stabilization, Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, Biomedical engineering
Abstract

In this paper, control strategies for an active stabilizer dedicated to beating heart coronary artery bypass grafting are investigated. The active stabilizer, which consists of a piezoactuated compliant mechanism, has to be controlled to compensate for the displacements induced by the beating heart in order to provide the surgeon with a locally motionless myocardium surface. Three controllers, including different levels of prior knowledge about the heart motion, are presented. Their performance with respect to modeling uncertainties, arising unknown interactions of the stabilizer with its positioning mechanism, and the heart, is studied through simulations, as well as laboratory and in vivo experiments. Finally, the selection of the most adequate control scheme and the performance of the device from a clinical point of view are discussed.

Published
2011

4. Contribution to robotized beating heart surgery. Ultrasound image-based visual servoing through nonlinear model predictive control

Author

Sauvée, Mickaël, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université Montpellier II - Sciences et Techniques du Languedoc, Etienne Dombre(dombre@lirmm.fr), and Sauvée, Mickaël

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, Medical robotic, Visual servoing, Chirurgie à coeur battant, Asservissement visuel, Predictive control, Commande prédictive, Robotique médicale, Beating heart surgery, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

This work is concerned with robotic assisted beating heart surgery. First, a new image-based visual servoing scheme based on Nonlinear Model Predictive Control is proposed. With this controler, contraints of the system can naturally be taken into account by simultaneously handle the trajectory planification and the control. Experiments on a robotic platform with a classical camera validate the proposed approach. This scheme has also been adapted for echographic vision. It allows to control tool tip motion while ensuring intersection constraint with the echographic plane. Experimental validations highlight the efficientcy of the control scheme. This second part of the work takes place in a project of robotic assisted endovascular surgery, particularly for valve surgery. In this context, the real time localisation of the mitral valve is realized through a new method based on the tracking of the junction of the leaflet and the heart wall and a 2 dof model of the valve. The porposed algorithm has been valided with in vivo sequence. In the last part, in a first evaluation for heart motion compensation, we focus on 3D heart motion estimation using in vivo endoscopic images., Ces travaux de thèse s'inscrivent dans le cadre de l'assistance robotisée pour la chirurgie cardiaque à coeur battant. Une première contribution est la synthèse d'une nouvelle architecture d'asservissement visuel dans l'image en utilisant une commande prédictive non linéaire. Cette structure permet de respecter les contraintes du système en gérant simultanément la planification de trajectoire et le contrôle. La loi de commande a été validée sur une plate-forme robotique en vision standard. La structure a également été adaptée pour la vision échographique. Elle permet ainsi de contrôler les déplacements d'un outil en imposant que celui-ci respecte la contrainte d'intersection avec le plan échographique. Des expérimentations ont également permis de montrer l'efficacité de cette loi de commande. Cette seconde contribution s'intègre dans le cadre de l'assistance à la chirurgie cardiaque endovasculaire, et plus particulièrement la réparation de valve mitrale. Dans ce contexte, la localisation de la valve mitrale en temps réel est obtenue en utilisant une méthode qui repose sur la détection de la jonction entre la paroi et la valve et également d'un modèle à 2 ddl de la valve. L'algorithme proposé a été validé sur une séquence in vivo. Enfin, une estimation in vivo des déplacements 3D du coeur à partir des images endoscopiques a été proposée et représente une première étape d'un projet de compensation automatique des mouvements du coeur pour la chirurgie coronarienne.

Published
2006

5. A new minimally invasive heart surgery instrument for atrial fibrillation treatment : first in vitro and animal tests

Author

P.A. Finlay, J.P. Goldstein, D. Beaufort, Joël Abadie, Patrick Rougeot, Alain Faure, G. Bogaerts, Nicolas Chaillet, Laboratoire d'automatique de Besançon (LAB), Centre National de la Recherche Scientifique (CNRS)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Surgical Microrobotic Project (SMP), Université libre de Bruxelles (ULB), Department of Cardiac Surgery (DCS), Université de Bruxelles, Armstrong Healthcare Ltd, Université du Royaume Uni, and GeBo Consult

Subjects
medicine.medical_specialty, Selective ablation, Biophysics, Left atrium, Pilot Projects, RF ablation, In Vitro Techniques, 030204 cardiovascular system & hematology, Surgical robotics, User-Computer Interface, 03 medical and health sciences, 0302 clinical medicine, PDMS, Atrial Fibrillation, medicine, Animals, Humans, Minimally Invasive Surgical Procedures, 030212 general & internal medicine, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, Endocardium, Sheep, business.industry, Beating heart surgery, technology, industry, and agriculture, Navigation system, Atrial fibrillation, Equipment Design, Robotics, medicine.disease, Telemedicine, 3. Good health, Computer Science Applications, Surgery, heart surgery, Equipment Failure Analysis, Treatment Outcome, medicine.anatomical_structure, Robotic systems, Surgery, Computer-Assisted, Catheter Ablation, Feasibility Studies, Robot, business
Abstract

Background The paper presents a new robotic system for beating heart surgery. The final goal of this project is to develop a tele-operated system for the thoracoscopic treatment of patients with atrial fibrillation. The system consists of a robot that moves an innovative end-effector used to perform lines as in the Cox-Maze technique. Methods The device is an electrode mesh that is introduced in the thorax through a trocar and is deployed inside the left atrium, where it can create selective ablation lines at any atrial region, using radio frequency. The current version of the umbrella has 22 electrodes. Using visual feedback from an ultrasound based navigation system, the surgeon can choose which electrodes on the mesh to activate. Once the umbrella is in contact with the endocardium of the left atrium, at the expected position, the surgeon activates the chosen electrodes sequentially. The umbrella can then be moved to another position. Results In vitro and in vivo animal tests have been carried out in order to test and improve the instrument, the robotic system and the operative procedure. Conclusions The performed trials proved the ability of the system to treat atrial fibrillation. More in vivo tests are currently being performed to make the robot and its device ready for clinical use. Copyright © 2006 John Wiley & Sons, Ltd.

Published
2006

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