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Cardio Navigation: Planning, Simulation, and Augmented Reality in Robotic Assisted Endoscopic Bypass Grafting  Volkmar Falk, MD, PhD, Fabien Mourgues,

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Presentation on theme: "Cardio Navigation: Planning, Simulation, and Augmented Reality in Robotic Assisted Endoscopic Bypass Grafting  Volkmar Falk, MD, PhD, Fabien Mourgues,"— Presentation transcript:

1 Cardio Navigation: Planning, Simulation, and Augmented Reality in Robotic Assisted Endoscopic Bypass Grafting  Volkmar Falk, MD, PhD, Fabien Mourgues, PhD, Louaï Adhami, PhD, Stefan Jacobs, MD, Holger Thiele, MD, Stefan Nitzsche, MD, Friedrich W. Mohr, MD, PhD, Ève Coste-Manière, PhD  The Annals of Thoracic Surgery  Volume 79, Issue 6, Pages (June 2005) DOI: /j.athoracsur Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

2 Fig 1 Schematic illustration of the cardio-navigation process (CT = computer tomography; OR = operating room.) The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

3 Fig 2 Coronary angiography. Right anterior oblique view (A) and left anterior oblique view (B) with segmented coronary artery center lines. (C) Three-dimensional (3-D) reconstruction of the coronary tree and localization of the stenosis on the 3-D tree. The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

4 Fig 3 (A) Fiducials (see Appendix) markers positioned prior to the contrast computed tomographic (CT) scan on the patient’s chest. (B) Segmented fiducials and patient skin from CT data. (C) Fusion of regions of interest isolated on the CT scan with the 3-D left coronary tree reconstructed (compare with Fig 2C). The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

5 Fig 4 Choice of targets sites for the procedure (A) and result of planning (ports placement and robot arms positioning) and graphical interface (B). The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

6 Fig 5 (A) Result of optimal port placement on patient’s model. (B) Effective transfer of the computed ports on patient in the operating room using robot tool tip as pointing device. (C) Chosen ports on patient and robot positioning. The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

7 Fig 6 (A) Effective robot set-up in the operating room (B) compared with planned results. The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

8 Fig 7 Schematic illustration of the matching algorithm. (Top views) Limited endoscopic view of coronary anatomy through scope (indicated by light circle as the visible field). (Bottom) Modeled three-dimensional representation of angiography. (a) Initial representation of reconstructed angiogram after surface registration. Note that the reconstructed angiogram is projected far from the true location of the coronary tree visible through the endoscope. (b) In the endoscopic view, visible structures such as bifurcations and vessels are marked (landmarks). (c) The marked landmarks are matched by computation to the reconstructed coronary tree (landmark matching), and the tree is then moved accordingly. As a final result, the true anatomy and the reconstruction are superimposed within the endoscopic image. The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

9 Fig 8 The local view (black and white patch) of the actual endoscopic view seen at a given time by the surgeon is positioned on the global map of the heart, thus illustrating the global positioning system behavior. The Annals of Thoracic Surgery  , DOI: ( /j.athoracsur ) Copyright © 2005 The Society of Thoracic Surgeons Terms and Conditions

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