Robotic System for Transapical Aortic Valve Replacement with MRI Guidance

  title={Robotic System for Transapical Aortic Valve Replacement with MRI Guidance},
  author={Ming Li and Dumitru Mazilu and Keith Joseph Horvath},
  journal={Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention},
  volume={11 Pt 2},
This paper reports our work on developing a robotic surgical system for transapical beating heart aortic valve replacement (AVR) under interactive real-time magnetic resonance imaging (rtMRI) guidance. Our system integrates a real-time MRI system, a compound MRI robot, as well as an interface for the surgeon to plan the procedure and manipulate the robot. The compound robot consists of a positioning module and a valve delivery module. A 5-DOF Innomotion positioning arm provides and maintains… CONTINUE READING
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