Virtual Fixtures for Robotic Cardiac Surgery

Shin Suk Park, Robert D. Howe, David F. Torchiana

Research output: Chapter in Book/Report/Conference proceedingConference contribution

101 Citations (Scopus)

Abstract

We are developing virtual fixtures for the internal mammary artery (IMA) harvest portion of robot-assisted coronary artery bypass graft procedures. A preoperative CT scan will be processed to define the location of the IMA. In surgery, the patient.s anatomy will be registered to the image data, then a virtual fixture will constrain the instrument.s motions, as commanded by the surgeon, to appropriate paths adjacent to the artery. As a preliminary test, a virtual wall is implemented on a commercial surgical robot system. Results from a dissection task show that execution is faster and more precise than with conventional freehand techniques.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages1419-1420
Number of pages2
Volume2208
ISBN (Print)3540426973, 9783540454687
DOIs
Publication statusPublished - 2001
Externally publishedYes
Event4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 - Utrecht, Netherlands
Duration: 2001 Oct 142001 Oct 17

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2208
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001
CountryNetherlands
CityUtrecht
Period01/10/1401/10/17

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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  • Cite this

    Park, S. S., Howe, R. D., & Torchiana, D. F. (2001). Virtual Fixtures for Robotic Cardiac Surgery. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2208, pp. 1419-1420). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2208). Springer Verlag. https://doi.org/10.1007/3-540-45468-3_252