Paper Info
Title
Guidance of a high dexterity robot under 3D ultrasound for minimally invasive retrieval of foreign bodies from a beating heart
Abstract
Particles such as thrombi, bullet fragments, and shrapnel can become trapped in a person's heart after migrating through the venous system, or by direct penetration. These cardiac foreign bodies pose a serious health risk as they can interfere with cardiovascular function. Conventional treatment often requires open heart surgery, cardiopulmonary bypass, and a long incision of the heart muscle, which come with significant risk and recovery time. To circumvent these disadvantages, we propose a minimally invasive surgical approach using 3D ultrasound to guide a dexterous robotic capture device. Analysis of the foreign body trajectory indicates highly erratic motion, rendering a robotic retrieval strategy based on direct pursuit of the tracked target infeasible. To provide a relatively slow robot with the ability to retrieve such a target, we propose alternative strategies based on guiding a robot to a salient capture location, and ambushing the target upon its reappearance. In this paper, we demonstrate the use of 3D transesophageal echocardiography (TEE) in tracking a foreign body in a beating heart phantom, computing a suitable capture location, and guiding a high dexterity robot to secure the target.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907572
Robotics and Automation
Keywords
Field
DocType
dexterous manipulators,echocardiography,medical robotics,surgery,3D transesophageal echocardiography,3D ultrasound,TEE,cardiac foreign bodies,high dexterity robot,minimally invasive retrieval,robotic retrieval strategy
Computer vision,Foreign Bodies,Artificial intelligence,Engineering,Robot,3D ultrasound
Conference
Volume
Issue
ISSN
2014
1
1050-4729
Citations 
PageRank 
References 
1
0.37
17
Authors
3
Name
Order
Citations
PageRank
Paul Thienphrapa162.17
Aleksandra Popovic2434.17
Russell H. Taylor31970438.00