Virtual Fixtures for Robotic Cardiac Surgery

Shinsuk Park, Robert D. Howe, David F. Torchiana

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

107 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 publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings
EditorsWiro J. Niessen, Max A. Viergever
PublisherSpringer Verlag
Pages1419-1420
Number of pages2
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)0302-9743
ISSN (Electronic)1611-3349

Other

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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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