Journal
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
Volume 57, Issue 5, Pages 1008-1011Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TBME.2009.2039570
Keywords
Beating heart surgery; force feedback; minimally invasive surgery (MIS); mitral valve annuloplasty; optical force sensor
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Funding
- NATIONAL HEART, LUNG, AND BLOOD INSTITUTE [R01HL073647] Funding Source: NIH RePORTER
- NHLBI NIH HHS [R01 HL073647, R01 HL073647-07, R01HL073647-01] Funding Source: Medline
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This paper presents a novel miniature uniaxial force sensor for use within a beating heart during mitral valve annuloplasty. The sensor measures 5.5 mm in diameter and 12 mm in length and provides a hollow core to pass instrumentation. A soft elastomer flexure design maintains a waterproof seal. Fiber optic transduction eliminates electrical circuitry within the heart, and acetal components minimize ultrasound-imaging artifacts. Calibration uses a nonlinear viscoelastic method, and in vitro tests demonstrate a 0-4-N force range with rms errors of 0.13 N (< 3.2%). In vivo tests provide the first endocardial measurements of tissue-minimally invasive surgery instrument interaction forces in a beating heart.
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