[BIC-announce] CIM25 Seminar Series on Brain, Body and Machine: 1st seminar, February 2, 2010, 11:30 - 12:30, Room MDHAR G-10

[Kaleem Siddiqi]

CIM 25th Anniversary Seminars on Brain, Body & Machine

Centre for Intelligent Machines

McGill University

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Time: Tuesday, February 2, 2010, 11:30 – 12:30

Place: McDonald-Harrington Bldg., Room G-10
 
 
                       Fixing the Beating Heart:
Ultrasound Guidance for Robotic Intracardiac Surgery
 
           Prof. Robert D. Howe
 
               School of Engineering and Applied Sciences
                                    Harvard University
                             Boston, Massachusetts, USA
 
To treat defects within the heart, surgeons currently use stopped-heart techniques. These procedures are
highly invasive and incur a significant risk of neurological impairment. We are developing methods for
performing surgery within the heart while it is beating. New real-time 3-D ultrasound imaging allows
visualization through the opaque blood pool, but this imaging modality poses difficult image processing
challenges, including poor resolution, acoustic artifacts, and data rates of 30 to 40 million voxels per
second. To track instruments within the heart we have developed a Radon transform-based algorithm,
which is readily implemented in real-time on graphics processor units. For manipulation of rapidly moving
cardiac tissue we have created a fast robotic device that can track the tissue based on ultrasound image
features. This allows the surgeon to interact with the heart as if it was stationary. To integrate ultrasound
imaging with the robotic device we have developed a predictive controller that compensates for the 50-100 ms
imaging and image processing delays to ensure good tracking performance. In vivo studies show that this
approach enhances dexterity and lowers applied forces. Clinical applications of this technology include atrial
septal defect closure and mitral valve annuloplasty.
 
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