title: Optimal port placement and enhanced guidance in robotically assisted cardiac surgery.
abstract: BACKGROUND
  Optimal port placement and enhanced guidance in robotically assisted cardiac surgery is required to improve preoperative planning and intraoperative navigation.
  
  
  METHODS
  Offline optimal port placement is planned on a three-dimensional virtual reconstruction of the patient's computed tomography scan. Using this data, an accurate in vivo port placement can be performed, which is achieved by augmented reality techniques superimposing virtual models of the thorax and the teleoperator arms on top of the real worldview.
  
  
  RESULTS
  A new system incorporating both port placement planning and intraoperative navigation in robotically assisted minimally invasive heart surgery was established to aid the operative workflow. A significant reduction of operation time by improved planning and intraoperative support is anticipated.
  
  
  CONCLUSIONS
  The enhanced intraoperative orientation possibilities may lead to further decrease in operation time and have the continuing ability to improve quality.
authors.affiliation: Clinic for Cardiovascular Surgery, German Heart Center Munich, Munich, Germany. Bauernschmitt@dhm.mhn.de
authors.forename: R
authors.initials: R
authors.lastname: Bauernschmitt
authors.forename: M
authors.initials: M
authors.lastname: Feuerstein
authors.forename: J
authors.initials: J
authors.lastname: Traub
authors.forename: Eva U
authors.initials: EU
authors.lastname: Schirmbeck
authors.forename: G
authors.initials: G
authors.lastname: Klinker
authors.forename: R
authors.initials: R
authors.lastname: Lange
mesh_terms: D013504:Cardiovascular Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D003198:Computer Simulation; D019723:Endoscopes; D006801:Humans; D021621:Imaging, Three-Dimensional; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation; D019047:Phantoms, Imaging; D012307:Risk Factors; D012371:Robotics; D012680:Sensitivity and Specificity