Planning, simulation, and augmented reality for robotic cardiac procedures: The STARS system of the ChIR team.
This paper presents STARS (Simulation and Transfer Architecture for Robotic Surgery), a versatile system that aims at enhancing minimally invasive robotic surgery through patient-dependent optimized planning, realistic simulation, safe supervision, and augmented reality. The underlying architecture of the proposed approach is presented, then each component is detailed. An experimental validation is conducted on a dog for a coronary bypass intervention using the Da Vinci(TM) surgical system focusing on planing, registration, and augmented reality trials.
Coste-Manière
Eve
E
ChIR Medical Robotics team, INRIA Sophia Antipolis, France. eve.coste-maniere@sophia.inria.fr.
Adhami
Louaï
L
Mourgues
Fabien
F
Carpentier
Alain
A
D000818:Animals; D006348:Cardiac Surgical Procedures / Q000379:methods*; D003198:Computer Simulation; D004285:Dogs; D006801:Humans; D019060:Minimally Invasive Surgical Procedures; D010347:Patient Care Planning; D012371:Robotics / Q000295:instrumentation*