Talk title: Robotic-Assisted Beating Heart Surgery
Coronary heart disease is a leading cause of death in humans. A promising treatment option for this disease is off-pump coronary artery bypass graft (CABG) surgery as the artery grafting is done without stopping the heart, which decreases the hospitalization time and the cost of the operations as opposed to the case with on-pump surgeries. In the robotic assisted-surgery concept the surgeon views the surgical scene on a video display and operates on the heart as if it were stationary while the robotic system actively compensates for the motion of the heart. In this talk, I will present intelligent robotic tools that were developed for assisting off-pump (beating heart) CABG surgery. The most important aspects of such a robotic system are accurately measuring and predicting the heart motion as they are instrumental in canceling the relative motion between the heart surface and surgical tools attached to the robotic manipulators. In addition, I will present a novel contact position sensor that was developed to measure the position of the beating heart, and a preliminary noise characterization for the future sensor system implementation.
Özkan Bebek received his B.S. degree in mechanical engineering from the Middle East Technical University in 2001, M.S. degree in mechatronics from Sabanci University in 2003, and Ph.D. degree in systems and control engineering from Case Western Reserve University, Cleveland, OH, USA, in 2008. Between 2008 and 2011, he was a senior research associate at the Medical Robotics and Computer Integrated Surgery Lab at Case Western Reserve University, where he worked on robotic systems for beating heart surgery and small animal biopsies as well as a personal navigation system using inertial measurement units and pressure sensors. Dr. Bebek joined Özyeğin University in October 2011, where he is currently an assistant professor. His research interests include medical robotics, mechatronics, biomedical measurement, and control systems.