A novel virtual reality environment for preoperative planning and simulation of image guided intracardiac surgeries with robotic manipulators

Erol Yeniaras, Zhigang Deng, Mushabbar A. Syed, Mark G. Davies, Nikolaos V. Tsekos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

Abstract

The evolution of image-guided and robot-assisted procedures can be beneficial to intracardiac interventions. This paper proposes a novel approach and a virtual reality system for preoperative planning and intraoperative guidance of cardiac procedures, and for investigating the kinematics and control of a virtual robotic manipulator, based on MRI CINE images. The system incorporates dedicated software modules for processing MR images, generating dynamic trajectories in the continuously changing environment of a beating heart, controlling a specific generic virtual manipulator along those trajectories, and a virtual reality interface that fuses all those information. The proposed system is applied for the simulation of accessing the aortic valve annulus via a small incision on the apex by maneuvering a robotic manipulator through an access corridor that safely transverses the left ventricle (LV) of the beating heart.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 18
Subtitle of host publicationNextMed, MMVR18
PublisherIOS Press
Pages716-722
Number of pages7
ISBN (Print)9781607507055
DOIs
StatePublished - Jan 1 2011
Externally publishedYes

Publication series

NameStudies in Health Technology and Informatics
Volume163
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365

Keywords

  • cardiac surgery
  • image guidance
  • medical robotics
  • MRI
  • virtual reality

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management

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