Gaze-Contingent Motor Channelling and Haptic Constraints for Minimally Invasive Robotic Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
IEEE Transactions on Robotics
Design considerations and human-machine performance of moving virtual fixtures
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robot-assisted laparoscopic ultrasound
IPCAI'10 Proceedings of the First international conference on Information processing in computer-assisted interventions
Assembling virtual fixtures for guidance in training environments
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Certifying the safe design of a virtual fixture control algorithm for a surgical robot
Proceedings of the 16th international conference on Hybrid systems: computation and control
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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.