{"id":{"repo_id":"uwo","oai_identifier":"oai:uwo.scholaris.ca:20.500.14721/18332"},"canonical_url":"https://search.dev.ndltd.org/etd/uwo/oai:uwo.scholaris.ca:20.500.14721/18332","repository":{"repo_id":"uwo","name":"Western University","base_url":"https://uwo.scholaris.ca/server/oai/request"},"display":{"title":"Estimating Target Vessel Location on Robot-Assisted CABG using Feature-based CT to US Registration","abstract":"Although robot-assisted coronary artery bypass grafting (RA-CABG) has gained more acceptance worldwide, its success still depends on the surgeon’s experience and expertise, and the conversion rate to full sternotomy is in the order of 15%—25%. One of the reasons for conversion is poor pre-operative planning, which is based solely on pre-operative computed tomography (CT) images. This thesis proposes a technique to estimate the global peri-operative displacement of the heart and to predict the intra-operative target vessel location. The technique has been validated via both an in vitro and a clinical study, and predicted the position of the peri-operative target vessel location with ~ 3.5 mm RMS accuracy in the in vitro study while it yielded ~ 5.0 mm accuracy for the clinical validation. As the desired clinical accuracy imposed by this procedure is on the order of one intercostal space (10 - 15 mm), our technique suits the clinical requirements. It is therefore believed that this technique has the potential to improve the pre-operative planning by updating peri-operative migration patterns of the heart and, consequently, will lead to reduced conversion to conventional open thoracic procedures.","abstract_html":"Although robot-assisted coronary artery bypass grafting (RA-CABG) has gained more acceptance worldwide, its success still depends on the surgeon’s experience and expertise, and the conversion rate to full sternotomy is in the order of 15%—25%. One of the reasons for conversion is poor pre-operative planning, which is based solely on pre-operative computed tomography (CT) images. This thesis proposes a technique to estimate the global peri-operative displacement of the heart and to predict the intra-operative target vessel location. The technique has been validated via both an in vitro and a clinical study, and predicted the position of the peri-operative target vessel location with ~ 3.5 mm RMS accuracy in the in vitro study while it yielded ~ 5.0 mm accuracy for the clinical validation. As the desired clinical accuracy imposed by this procedure is on the order of one intercostal space (10 - 15 mm), our technique suits the clinical requirements. It is therefore believed that this technique has the potential to improve the pre-operative planning by updating peri-operative migration patterns of the heart and, consequently, will lead to reduced conversion to conventional open thoracic procedures.","abstract_has_math":false,"creators":["Cho, Sungjoon Daniel"],"institution":null,"degree_name":"MES","degree_level":null,"degree_discipline":"Biomedical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["Peters, Terry"],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-01-01","date_published":"2011-01-01","updated_at":"2026-07-27T21:55:56Z","subjects":["Image-guided cardiac surgery","Minimally invasive surgery","CABG","rigid- body registration","ultrasound","phantom study"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/20.500.14721/18332","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Peters, Terry"]},{"key":"dc:creator","label":"Author","values":["Cho, Sungjoon Daniel"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2025-06-25T18:49:22Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2025-06-25T18:49:22Z"]},{"key":"dc:date.issued","label":"Date","values":["2011-01-01"]},{"key":"dc:type","label":"Dc Type","values":["thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Biomedical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["MES"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Image-guided cardiac surgery","Minimally invasive surgery","CABG","rigid- body registration","ultrasound","phantom study"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/20.500.14721/18332"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Although robot-assisted coronary artery bypass grafting (RA-CABG) has gained more acceptance worldwide, its success still depends on the surgeon’s experience and expertise, and the conversion rate to full sternotomy is in the order of 15%—25%. One of the reasons for conversion is poor pre-operative planning, which is based solely on pre-operative computed tomography (CT) images. This thesis proposes a technique to estimate the global peri-operative displacement of the heart and to predict the intra-operative target vessel location. The technique has been validated via both an in vitro and a clinical study, and predicted the position of the peri-operative target vessel location with ~ 3.5 mm RMS accuracy in the in vitro study while it yielded ~ 5.0 mm accuracy for the clinical validation. As the desired clinical accuracy imposed by this procedure is on the order of one intercostal space (10 - 15 mm), our technique suits the clinical requirements. It is therefore believed that this technique has the potential to improve the pre-operative planning by updating peri-operative migration patterns of the heart and, consequently, will lead to reduced conversion to conventional open thoracic procedures."]},{"key":"dc:title","label":"Title","values":["Estimating Target Vessel Location on Robot-Assisted CABG using Feature-based CT to US Registration"]}]}],"canonical_facts":{"dc:contributor.advisor":["Peters, Terry"],"dc:creator":["Cho, Sungjoon Daniel"],"dc:date.accessioned":["2025-06-25T18:49:22Z"],"dc:date.available":["2025-06-25T18:49:22Z"],"dc:date.issued":["2011-01-01"],"dc:description.abstract":["Although robot-assisted coronary artery bypass grafting (RA-CABG) has gained more acceptance worldwide, its success still depends on the surgeon’s experience and expertise, and the conversion rate to full sternotomy is in the order of 15%—25%. One of the reasons for conversion is poor pre-operative planning, which is based solely on pre-operative computed tomography (CT) images. This thesis proposes a technique to estimate the global peri-operative displacement of the heart and to predict the intra-operative target vessel location. The technique has been validated via both an in vitro and a clinical study, and predicted the position of the peri-operative target vessel location with ~ 3.5 mm RMS accuracy in the in vitro study while it yielded ~ 5.0 mm accuracy for the clinical validation. As the desired clinical accuracy imposed by this procedure is on the order of one intercostal space (10 - 15 mm), our technique suits the clinical requirements. It is therefore believed that this technique has the potential to improve the pre-operative planning by updating peri-operative migration patterns of the heart and, consequently, will lead to reduced conversion to conventional open thoracic procedures."],"dc:identifier.uri":["https://hdl.handle.net/20.500.14721/18332"],"dc:subject":["Image-guided cardiac surgery","Minimally invasive surgery","CABG","rigid- body registration","ultrasound","phantom study"],"dc:title":["Estimating Target Vessel Location on Robot-Assisted CABG using Feature-based CT to US Registration"],"dc:type":["thesis"],"thesis:degree_discipline":["Biomedical Engineering"],"thesis:degree_name":["MES"]},"updated_at":"2026-07-27T21:55:56Z"}