Nathan A Wood1, David Schwartzman2, Marco A Zenati3, Cameron N Riviere1. 1. The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA. 2. Cardiovascular Institute, University of Pittsburgh, Pittsburgh, PA, 15213, USA. 3. BHS Department of Cardiothoracic Surgery, Harvard Medical School, West Roxbury, MA, USA.
Abstract
BACKGROUND: Organ-mounted robots passively compensate heartbeat and respiratory motion. In model-guided procedures, this motion can be a significant source of information that can be used to aid in localization or to add dynamic information to static preoperative maps. METHODS: Models for estimating periodic motion are proposed for both position and orientation. These models are then tested on animal data and optimal orders are identified. Finally, methods for online identification are demonstrated. RESULTS: Models using exponential coordinates and Euler-angle parameterizations are as accurate as models using quaternion representations, yet require a quarter fewer parameters. Models which incorporate more than four cardiac or three respiration harmonics are no more accurate. Finally, online methods estimate model parameters as accurately as offline methods within three respiration cycles. CONCLUSIONS: These methods provide a complete framework for accurately modelling the periodic deformation of points anywhere on the surface of the heart in a closed chest.
BACKGROUND: Organ-mounted robots passively compensate heartbeat and respiratory motion. In model-guided procedures, this motion can be a significant source of information that can be used to aid in localization or to add dynamic information to static preoperative maps. METHODS: Models for estimating periodic motion are proposed for both position and orientation. These models are then tested on animal data and optimal orders are identified. Finally, methods for online identification are demonstrated. RESULTS: Models using exponential coordinates and Euler-angle parameterizations are as accurate as models using quaternion representations, yet require a quarter fewer parameters. Models which incorporate more than four cardiac or three respiration harmonics are no more accurate. Finally, online methods estimate model parameters as accurately as offline methods within three respiration cycles. CONCLUSIONS: These methods provide a complete framework for accurately modelling the periodic deformation of points anywhere on the surface of the heart in a closed chest.
Authors: D W Losordo; P R Vale; J F Symes; C H Dunnington; D D Esakof; M Maysky; A B Ashare; K Lathi; J M Isner Journal: Circulation Date: 1998 Dec 22-29 Impact factor: 29.690
Authors: Shelten G Yuen; Daniel T Kettler; Paul M Novotny; Richard D Plowes; Robert D Howe Journal: Int J Rob Res Date: 2009-10-01 Impact factor: 4.703
Authors: Yang Zhu; Nathan A Wood; Kevin Fok; Tomo Yoshizumi; Dae Woo Park; Hongbin Jiang; David S Schwartzman; Marco A Zenati; Takafumi Uchibori; William R Wagner; Cameron N Riviere Journal: Ann Thorac Surg Date: 2016-05-04 Impact factor: 4.330
Authors: Nathan A Wood; David Schwartzman; Michael J Passineau; M Scott Halbreiner; Robert J Moraca; Marco A Zenati; Cameron N Riviere Journal: Int J Med Robot Date: 2018-11-29 Impact factor: 2.547
Authors: Nathan A Wood; David Schwartzman; Michael J Passineau; Robert J Moraca; Marco A Zenati; Cameron N Riviere Journal: Int J Med Robot Date: 2018-03-06 Impact factor: 2.547