Precision minimally invasive surgery by adaptive organ motion tracking and compensation

Damian Tomlin, Anshul Thakral, Jeffrey Wallace, Ralph Etienne-Cummings, Nitish Thakor

Research output: Contribution to journalConference articlepeer-review


A fully integrated 3-axis robotic motion tracking and compensation system has been developed to compensate for and track periodic and quasi-periodic organ motion present during surgery resulting from cardiac and respiratory rhythms. The Z-axis motion compensation is achieved by using a fiber-optic laser sensor to obtain precise displacement measurements. Adaptive and predictive signal processing techniques are used to develop a novel motion compensation algorithm that results in a compensated Z-axis motion tracking the organ movement. The X-Y motion tracking uses a custom VLS1 chip, modeled as a foveated silicon retina, for precision targeting in the X-Y plane. A surgical probe is moved in response to the motion compensation algorithms and the optical tracking chip. Compensated motion tracking, with less that 10% targeting error, has been demonstrated in a rodent heart model system. Using a complementary algorithm, artifacts due to respiratory motion have also been extracted.

Original languageEnglish (US)
Pages (from-to)S-100
JournalAnnals of biomedical engineering
Issue numberSUPPL. 1
StatePublished - 2000
Event2000 Annual Fall Meeting of the Biomedical Engineering Society - Washington, WA, USA
Duration: Oct 12 2000Oct 14 2000

ASJC Scopus subject areas

  • Biomedical Engineering


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