Abstract
Image-guided preoperative planning is of paramount significance in obtaining reproducible results in robotic cardiac surgeries. Planning can help the surgeon utilize the derived quantitative information of the target area, and evaluate the suitability of offered medical therapy prior to surgery. In transapical aortic valve surgeries, determining the safest path for the robotic delivery module along the left ventricle (LV) is an important step to prevent potential adverse events from happening, e.g., harming inner ventricular walls and mitral valves, and malpositioning the prosthetic valve. Motivated from that fact, we processed short-axis (SAX) cardiac magnetic resonance (CMR) images which provide promising volumetric visualization with no radiation effect. More precisely, we propose a system that incorporates robust left ventricle segmentation, a combination of an isotropic denoising and a hybrid active contour model, as well as a dynamic safe path optimization for robotic delivery based on LV segments.
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Bayraktar, M., Kaya, S., Yeniaras, E., Iqbal, K. (2016). Trajectory Smoothing for Guiding Aortic Valve Delivery with Transapical Access. In: Shekhar, R., et al. Clinical Image-Based Procedures. Translational Research in Medical Imaging. CLIP 2016. Lecture Notes in Computer Science(), vol 9958. Springer, Cham. https://doi.org/10.1007/978-3-319-46472-5_6
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DOI: https://doi.org/10.1007/978-3-319-46472-5_6
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