Dynamic Guidance Virtual Fixtures for Guiding Robotic Interventions: Intraoperative MRI-guided Transapical Cardiac Intervention Paradigm

The advent of intraoperative real-time image guidance has led to the emergence of new surgical interventional paradigms including image-guided robot assistance. Most often the use of an intraoperative imaging modality is limited to visual perception of the area of procedure. In this work, we propose a system for performing interventions with real-time Magnetic Resonance Imaging (rtMRI). The described computational core, processes on-the-fly rtMRI and generates dynamic guidance virtual fixture that in turn is used to update visualization and a force-feedback interface. The system was experimentally tested by applying it to a simulated Transapical Aortic Valve Implantation with a virtual robotic manipulator. The study results demonstrate significant improvement in the surgical task by decreasing the duration of the procedure and increasing safety in the presence of cardiac and breathing motion.