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UID:20260609T133214EDT-7394xBzKI5@132.216.98.100
DTSTAMP:20260609T173214Z
DESCRIPTION:\nFixing the Beating Heart:\nUltrasound Guidance for Robotic In
 tracardiac Surgery\nRobert Howe\nHarvard University\n \nUltrasound Guidanc
 e for Robotic Intracardiac Surgery\nTo treat defects within the heart\, su
 rgeons currently use\nstopped-heart techniques. These procedures are highl
 y invasive and\nincur a significant risk of neurological impairment. We ar
 e\ndeveloping methods for performing surgery within the heart while it\nis
  beating. New real-time 3-D ultrasound imaging allows\nvisualization throu
 gh the opaque blood pool\, but this imaging\nmodality poses difficult imag
 e processing challenges\, including\npoor resolution\, acoustic artifacts\
 , and data rates of 30 to 40\nmillion voxels per second. To track instrume
 nts within the heart we\nhave developed a Radon transform-based algorithm\
 , which is readily\nimplemented in real-time on graphics processor units. 
 For\nmanipulation of rapidly moving cardiac tissue we have created a\nfast
  robotic device that can track the tissue based on ultrasound\nimage featu
 res. This allows the surgeon to interact with the heart\nas if it was stat
 ionary. To integrate ultrasound imaging with the\nrobotic device we have d
 eveloped a predictive controller that\ncompensates for the 50-100 ms imagi
 ng and image processing delays\nto ensure good tracking performance. In vi
 vo studies show that this\napproach enhances dexterity and  lowers applied
  forces.\nClinical applications of this technology include atrial septal\n
 defect closure and mitral valve annuloplasty.\n
DTSTART:20100202T163000Z
DTEND:20100202T163000Z
LOCATION:Macdonald Harrington Building\, CA\, QC\, Montreal\, H3A 0C2\, 815
  rue Sherbrooke Ouest
SUMMARY:Brain\, Body and Machine Seminar
URL:/channels/event/brain-body-and-machine-seminar-114
 565
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