Estimating Target Vessel Location on Robot-Assisted CABG using Feature-based CT to US Registration

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.

Name thesis:degree_name

MES

Discipline thesis:degree_discipline

Biomedical Engineering

Year dc:date.issued

2011

Author dc:creator

• Cho, Sungjoon Daniel

Advisor dc:contributor.advisor

• Peters, Terry

• Image-guided cardiac surgery
• Minimally invasive surgery
• CABG
• rigid- body registration
• ultrasound
• phantom study

Handle dc:identifier.uri

https://hdl.handle.net/20.500.14721/18332

OAI identifier oai:identifier

oai:uwo.scholaris.ca:20.500.14721/18332