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Visual Servoing for Beating Heart Surgery

  • Chapter
Visual Servoing via Advanced Numerical Methods

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 401))

Abstract

Off-pump coronary artery bypass grafting (CABG) is still a technically challenging procedure. The existing mechanical stabilizers used for local suppression of the heart excursion have demonstrated significant residual motion, which could lead to a lack of accuracy in the surgical task, particularly in a minimally invasive surgery (MIS) context. Robots can help the surgeon by actively compensating for the heart motion using visual servoing. Various sensors like endoscopic camera, ultrasound imaging or even magnetic resonance imaging (MRI) can be used to provide the feedback of the visual loop. Advanced control approaches like predictive, repetitive or robust control can enhance the compensation accuracy. They rely on a model that uses physiological inputs to predict the motion of the myocardium in real-time.

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Author information

Authors and Affiliations

  1. LSIIT, University of Strasbourg, Bd Sebastien Brant, 67412, Illkirch, France

    Wael Bachta, Pierre Renaud & Jacques Gangloff

  2. INRIA, 2004 Route des Lucioles, 06902, Sophia Antipolis, France

    Ezio Malis

  3. Tohoku University, Aoba-ku Aramaki Aza Aoba 6-6-01, Sendai, Japan

    Koichi Hashimoto

Authors
  1. Wael Bachta
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  2. Pierre Renaud
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  3. Ezio Malis
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  4. Koichi Hashimoto
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  5. Jacques Gangloff
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Editor information

Editors and Affiliations

  1. Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam Road, Hong Kong, China, People’s Republic

    Graziano Chesi

  2. Dept. System Information Sciences, Tohoku University, 6-6-01 Aramaki-Aza Aoba, 980-8579, Sendai, Aoba-ku, Japan

    Koichi Hashimoto

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Bachta, W., Renaud, P., Malis, E., Hashimoto, K., Gangloff, J. (2010). Visual Servoing for Beating Heart Surgery. In: Chesi, G., Hashimoto, K. (eds) Visual Servoing via Advanced Numerical Methods. Lecture Notes in Control and Information Sciences, vol 401. Springer, London. https://doi.org/10.1007/978-1-84996-089-2_6

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  • DOI: https://doi.org/10.1007/978-1-84996-089-2_6

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84996-088-5

  • Online ISBN: 978-1-84996-089-2

  • eBook Packages: EngineeringEngineering (R0)

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