Virtual Fixtures for Robotic Cardiac Surgery

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

doi:10.1007/3-540-45468-3_252

Virtual Fixtures for Robotic Cardiac Surgery

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Publisher	Springer Verlag
Pages	1419-1420
Number of pages	2
Volume	2208
ISBN (Print)	3540426973, 9783540454687
DOIs	https://doi.org/10.1007/3-540-45468-3_252
Publication status	Published - 2001
Externally published	Yes
Event	4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 - Utrecht, Netherlands Duration: 2001 Oct 14 → 2001 Oct 17

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	2208
ISSN (Print)	03029743
ISSN (Electronic)	16113349

Other

Other	4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001
Country	Netherlands
City	Utrecht
Period	01/10/14 → 01/10/17

ASJC Scopus subject areas

Computer Science(all)
Theoretical Computer Science

Access to Document

10.1007/3-540-45468-3_252

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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

Virtual Fixtures for Robotic Cardiac Surgery. / Park, Shin Suk; Howe, Robert D.; Torchiana, David F.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2208 Springer Verlag, 2001. p. 1419-1420 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2208).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Park, SS, Howe, RD & Torchiana, DF 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, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2208, Springer Verlag, pp. 1419-1420, 4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001, Utrecht, Netherlands, 01/10/14. https://doi.org/10.1007/3-540-45468-3_252

Park SS, Howe RD, Torchiana DF. 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. Springer Verlag. 2001. p. 1419-1420. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/3-540-45468-3_252

Park, Shin Suk ; Howe, Robert D. ; Torchiana, David F. / Virtual Fixtures for Robotic Cardiac Surgery. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2208 Springer Verlag, 2001. pp. 1419-1420 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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