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.
|Title of host publication||Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings|
|Editors||Wiro J. Niessen, Max A. Viergever|
|Number of pages||2|
|ISBN (Print)||3540426973, 9783540454687|
|Publication status||Published - 2001|
|Event||4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 - Utrecht, Netherlands|
Duration: 2001 Oct 14 → 2001 Oct 17
|Name||Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)|
|Other||4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001|
|Period||01/10/14 → 01/10/17|
Bibliographical notePublisher Copyright:
© Springer-Verlag Berlin Heidelberg 2001.
ASJC Scopus subject areas
- Theoretical Computer Science
- Computer Science(all)