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MICCAI
2001
Springer

Virtual Fixtures for Robotic Cardiac Surgery

10 years 3 months ago
Virtual Fixtures for Robotic Cardiac Surgery
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.
Shinsuk Park, Robert D. Howe, David F. Torchiana
Added 30 Jul 2010
Updated 30 Jul 2010
Type Conference
Year 2001
Where MICCAI
Authors Shinsuk Park, Robert D. Howe, David F. Torchiana
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