Robotic system for transapical aortic valve replacement with MRI guidance

Med Image Comput Comput Assist Interv. 2008;11(Pt 2):476-84. doi: 10.1007/978-3-540-85990-1_57.

Abstract

This paper reports our work on developing a robotic surgical system for transapical beating heart aortic valve replacement (AVR) under interactive real-time magnetic resonance imaging (rtMRI) guidance. Our system integrates a real-time MRI system, a compound MRI robot, as well as an interface for the surgeon to plan the procedure and manipulate the robot. The compound robot consists of a positioning module and a valve delivery module. A 5-DOF Innomotion positioning arm provides and maintains direct access to the native aortic valve. A newly developed 3-DOF robotic valve delivery module allows the surgeon to remotely control bioprosthetic valve delivery with MRI guidance. Preliminary evaluation of the parameters of the robotic system demonstrates it can provide sufficient capability to successfully assist the surgeon.

Publication types

  • Research Support, N.I.H., Intramural

MeSH terms

  • Aortic Valve / pathology
  • Aortic Valve / surgery*
  • Equipment Design
  • Equipment Failure Analysis
  • Heart Valve Prosthesis Implantation / instrumentation*
  • Heart Valve Prosthesis Implantation / methods
  • Heart Valve Prosthesis*
  • Humans
  • Magnetic Resonance Imaging / instrumentation*
  • Magnetic Resonance Imaging / methods
  • Robotics / instrumentation*
  • Robotics / methods
  • Surgery, Computer-Assisted / instrumentation*
  • Surgery, Computer-Assisted / methods