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Robot assisted Internal Mammary Artery detection for coronary revascularisation surgery

Fröhlich, Florian A. and Passig, Georg and Vazquez, Adrian and Hirzinger, Gerd (2010) Robot assisted Internal Mammary Artery detection for coronary revascularisation surgery. IROS 2010, 18-22 Oct 2010, Taiwan, Taipei.

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This paper presents a semi-automatic robotic system supporting a surgeon in the harvesting of the internal mammary artery (IMA) for an open chested intervention in coronary revascularisation surgery. The versatile surgical lightweight robot MIRO developed at DLR (German Aerospace Center) is used to detect and mark the path of the IMA at the inner side of the thoracic wall. The robot is equipped with a tool combining a Doppler ultrasonography (US) probe and a medical marker pen. The position of the IMA is extracted from the US-images to place the tool above the artery via visual servoing. Additionally, the robot moves the tool in direction of the artery to mark the location of the IMA on it’s path. To achieve an ideal contact situation for US-imaging along the whole path the contact force between tissue and probe is controlled according to force measurements based on the internal torque sensors of the robot. The evaluation of the robotic system by an animal experiment shows that the system is capable of robustly detecting the IMA.

Document Type:Conference or Workshop Item (Paper)
Title:Robot assisted Internal Mammary Artery detection for coronary revascularisation surgery
AuthorsInstitution or Email of Authors
Fröhlich, Florian A.Florian.Froehlich@dlr.de
Passig, GeorgGeorg.Passig@dlr.de
Vazquez, AdrianICCAS Leipzig
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:October 2010
Keywords:medical robotics, hybrid control, Doppler-ultrasound
Event Title:IROS 2010
Event Location:Taiwan, Taipei
Event Type:international Conference
Event Dates:18-22 Oct 2010
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Florian Alexander Fröhlich
Deposited On:11 Jan 2011 09:56
Last Modified:12 Dec 2013 21:11

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