title: [Planning and simulation of minimally-invasive robotic heart surgery].
abstract: Due to their numerous advantages, mainly in terms of patient benefit, mini-invasive robotically assisted interventions are gaining in importance in various surgical fields. However, this conversion has its own challenges that stem from both its novelty and complexity. In this paper we propose to accompany the surgeons in their transition, by offering an integrated environment that enables them to make better use of this new technology. The proposed system is patient-dependent, and enables the planning, validation, simulation, teaching and archiving of robotically assisted interventions. The approach is illustrated for a coronary bypass graft using the daVinci tele-operated robot.
authors.affiliation: Institut national de recherche en informatique et automatique (Inria), unité de Sophia-Antipolis, 2004, route des Lucioles, BP 93, 06902 Sophia-Antipolis, France. Eve.Coste_Maniere@sophia.inria.fr
authors.forename: Eve
authors.initials: E
authors.lastname: Coste-Manière
authors.forename: Louaï
authors.initials: L
authors.lastname: Adhami
authors.forename: Renault
authors.initials: R
authors.lastname: Severac-Bastide
authors.forename: Jean-Daniel
authors.initials: JD
authors.lastname: Boissonnat
authors.forename: Alain
authors.initials: A
authors.lastname: Carpentier
mesh_terms: D006348:Cardiac Surgical Procedures / Q000379:methods*; D003198:Computer Simulation; D001026:Coronary Artery Bypass / Q000379:methods; D006801:Humans; D007091:Image Processing, Computer-Assisted; D019060:Minimally Invasive Surgical Procedures / Q000379:methods*; D015203:Reproducibility of Results; D012371:Robotics / Q000379:methods*