Mansouri Saeed, Farahmand Farzam, Vossoughi Gholamreza, Ghavidel Alireza Alizadeh, Rezayat Mostafa
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran.
RCBTR, Tehran University of Medical Sciences, Tehran, Iran.
Int J Med Robot. 2018 Feb;14(1). doi: 10.1002/rcs.1869. Epub 2017 Oct 23.
Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery.
The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog.
Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance. The animal experiment revealed the applicability of the infrared tracker with passive markers in practical heart surgery conditions.
With the current technology, infrared tracking with passive markers might be the optimal solution for accurate, fast, and reliable tracking of heart motion during robot assisted beating heart surgery.
精确跟踪心脏表面运动是机器人辅助心脏跳动手术的一项主要要求。
通过在心脏运动模拟器上进行实验以及在狗身上进行模型手术，研究了一种立体红外跟踪系统用于测量心脏自由跳动运动的可行性。
模拟器实验表明，当采集时间同步且跟踪器从100厘米距离指向目标时，跟踪精度很高（均方根误差为81微米）。动物实验表明，带有被动标记的红外跟踪器在实际心脏手术条件下具有适用性。
就目前的技术而言，使用被动标记的红外跟踪可能是机器人辅助心脏跳动手术期间精确、快速且可靠地跟踪心脏运动的最佳解决方案。
