Multisensor soft tissue navigation for the controlled guidance in intra-cardiac microsurgery

Abstract

This paper describes the concept of a new kind of soft-tissue navigation system for minimally invasive intracardiac micro surgery like valve resection. Via a specialized trocar all instruments and a valve isolation chamber system [1] are inserted to generate a separate operation space around the valve. The instruments are at least a novel shape memory alloy actuated laser fibre and two endoscopic optic fibres. Via the endoscopic optic fibres a stereoscopic view on the operation field is provided while the laser is used for resection of a calcified valve. The guidance of the laser is controlled by the navigation system on basis of a three dimensional virtual model. The model is build out of preoperative taken static CT images merged with intra-operative taken ultrasonic images and the stereoscopic images generated from the endoscopic optic fibres. With the virtual model the intervention will be supported by visualization of the operation field on the one hand and control of the guidance of the laser actor on the other hand. Thus the system provides an undisturbed view to the operating field without limiting factors like bodily fluids and the small aditus of minimally invasive surgery. The guidance of the surgical instruments is easier and the intervention faster and safer for the patient.