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13.
Endoclamp balloon visualization and automatic placement systems
Furtado, Hugo ...
Objectives: Am-tie occlusion is one of the most important open discussions in minimally invasive cardiac surgery. Different techniques can be empđoyed, and all have benefits and drawbacks. The ...objective of our work is to improve the safety of internađ aortic occlusion with the Port Access technique, which empđoys an endoclamp balloon catheter. We propose a combined information and positioning system based on augmented reađity technology and robotics in whichthe position of the balloon can be seen at all times and can be automatically controlled by a robotic actuator. Methods: The system was designed bya multidisciplinary team of engineers, medicađ doctors, and human factor speciađists in a human-centered design approach. We measure the balloonposition in real time with a magnetic tracking system. This position issuperimposed OIl a 3-dimensional scan of the patient's thorax, with the balloon in the artery shown at all times. The position measurement is ađso used to control the robotic catheter inserter that pđaces and maintains the bađloon position at a specified target. The system was evaluated in 2 user swdies that compared it with other visual aids. Results: The user tests have shown that the system effectively supports the surgeon in the pđacement task, with an increase in pđacement accuracy and a reduction in time compared with the current visualization technique. The users ađso rated the system as supporting them well. Conclusions: The clinical feasibility of the system was proved. The system provides better visualization and position control and can effeccively increase the safety of the procedure. This system has the potencial of making Port Access a more attraccive technique.
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