迈向机器人辅助跳动心脏不停跳冠状动脉搭桥术：利用高速视觉评估心脏动力学

Towards robotized beating heart TECABG: assessment of the heart dynamics using high-speed vision.

作者信息

Cuvillon Loïc, Gangloff Jacques, De Mathelin Michel, Forgione Antonello

机构信息

University of Strasbourg, LSIIT (UMR CNRS 7005), Boulevard Sébastien Brant, F-67400 Illkirch, France.

出版信息

Comput Aided Surg. 2006 Sep;11(5):267-77. doi: 10.3109/10929080600970916.

DOI:10.3109/10929080600970916

PMID:17127652

Abstract

Active robotic filtering is probably the solution for beating heart Totally Endoscopic Coronary Artery Bypass Grafting (TECABG). In this work, we assess the heart motion dynamics by simultaneous use of high-speed imaging of optical markers attached to the heart, ECG signals and ventilator airflow acquisitions. Our goal is to assess the heart motions (shape, velocity, acceleration) in order to be able to make more accurate specifications for a novel, dedicated robot that could follow these motions in real time. Furthermore, using two additional inputs (ECG and airflow), we propose a novel robust prediction algorithm that could be used with a predictive control algorithm to improve the tracking accuracy.

摘要

主动机器人滤波可能是心脏跳动下完全内镜冠状动脉旁路移植术（TECABG）的解决方案。在这项工作中，我们通过同时使用附着在心脏上的光学标记的高速成像、心电图信号和呼吸机气流采集来评估心脏运动动力学。我们的目标是评估心脏运动（形状、速度、加速度），以便能够为一种新型的、专用的机器人做出更精确的规格说明，该机器人能够实时跟踪这些运动。此外，利用另外两个输入（心电图和气流），我们提出了一种新颖的鲁棒预测算法，该算法可与预测控制算法一起使用，以提高跟踪精度。