On Enhancing Planning and Navigation of Beating-Heart Mitral Valve Surgery Using Pre-operative Cardiac Models

In an effort to reduce morbidity during minimally- invasive cardiac procedures, we have recently developed an interventional technique targeted towards off-pump cardiac interventions. To compensate for the absence of direct visualization, our system employs a virtual reality environment for image guidance, that integrates pre-operative information with real-time intra-operative imaging and surgical tool tracking. This work focuses on enhancing intracardiac visualization and navigation by overlaying pre-operative cardiac models onto the intra-operative virtual space, to display surgical targets within their specific anatomical context. Our method for integrating pre-operative data into the intra-operative environment is accurate within ~5.0 mm. Thus, we feel that our virtually-augmented surgical space is accurate enough to improve spatial orientation and intracardiac navigation.