Quantification of Material Constants for a Phenomenological Constitutive Model of Porcine Tricuspid Valve Leaflets for Simulation Applications.

The tricuspid valve is a one-way valve on the pulmonary side of the heart, which prevents backflow of blood during ventricular contractions. Development of computational models of the tricuspid valve is important both in understanding the normal valvular function and in the development/improvement of surgical procedures and medical devices. A key step in the development of such models is quantification of the mechanical properties of the tricuspid valve leaflets. In this study, after examining previously measured five-loading-protocol biaxial stress-strain response of porcine tricuspid valves, a phenomenological constitutive framework was chosen to represent this response. The material constants were quantified for all three leaflets, which were shown to be highly anisotropic with average anisotropy indices of less than 0.5 (an anisotropy index value of 1 indicates a perfectly isotropic response, whereas a smaller value of the anisotropy index indicates an anisotropic response). To obtain mean values of material constants, stress-strain responses of the leaflet samples were averaged and then fitted to the constitutive model (average R2 over 0.9). Since the sample thicknesses were not hugely different, averaging the data using the same tension levels and stress levels produced similar average material constants for each leaflet.

Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot.

BACKGROUND: An automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery. MATERIAL AND METHODS: The procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel processing scheme, such that the tip is always kept at the center of the image. RESULTS: Assessment of the performance of the system on prerecorded real surgery movies revealed an accuracy rate of 97% for high quality images and about 80% for those suffering from poor lighting and/or blood, water and smoke noises. A reasonably satisfying performance was also observed when employing the system for autonomous control of the robot in a laparoscopic surgery phantom, with a mean time delay of 200ms. CONCLUSION: It was concluded that with further developments, the proposed procedure can provide a practical solution for autonomous control of cameraman robots during laparoscopic surgery operations.