Abstract
The aim of this work is to quantify the errors introduced at different levels of applying results planned using a computer integrated system (CIS) in the operating room, and make use of these errors to adapt the transfer and rethink the planning. In particular, the registration between preoperative imaging and intraoperative patient model, as well as between the patient and the robot are addressed. Two different registration methods are used and their accuracy compared. Moreover, augmented reality trials are conducted to assess the difficulty of adapting preoperative data to intraoperative models in order to deliver useful information to the surgeon during the intervention. The experimental work in this paper is conducted on a dog for a coronary bypass intervention using the Da Vinci™ surgical system.
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Coste-Manière, È. et al. (2003). Optimal Planning of Robotically Assisted Heart Surgery: Transfer Precision in the Operating Room. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_38
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DOI: https://doi.org/10.1007/3-540-36268-1_38
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