title: Towards robotic heart surgery: introduction of autonomous procedures into an experimental surgical telemanipulator system.
abstract: The introduction of telemanipulator systems into cardiac surgery enabled the heart surgeon to perform minimally invasive procedures with high precision and stereoscopic view. For further improvement and especially for inclusion of autonomous action sequences, implementation of force-feedback is necessary. The aim of our study was to provide a robotic scenario giving the surgeon an impression very similar to open procedures (high immersion) and to enable autonomous surgical knot tying with delicate suture material. In this experimental set-up the feasibility of autonomous surgical knot tying is demonstrated for the first time using stereoscopic view and force feedback.
authors.affiliation: German Heart Center Munich, Clinic for Cardiovascular Surgery, Technische Universität München, Germany. bauernschmitt@dhm.mhn.de
authors.forename: R
authors.initials: R
authors.lastname: Bauernschmitt
authors.forename: E U
authors.initials: EU
authors.lastname: Schirmbeck
authors.forename: A
authors.initials: A
authors.lastname: Knoll
authors.forename: H
authors.initials: H
authors.lastname: Mayer
authors.forename: I
authors.initials: I
authors.lastname: Nagy
authors.forename: N
authors.initials: N
authors.lastname: Wessel
authors.forename: S M
authors.initials: SM
authors.lastname: Wildhirt
authors.forename: R
authors.initials: R
authors.lastname: Lange
mesh_terms: D006348:Cardiac Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D003867:Depth Perception; D005240:Feasibility Studies; D005246:Feedback; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D012371:Robotics / Q000295:instrumentation; D013523:Surgical Equipment; D013525:Surgical Instruments; D013536:Suture Techniques; D014110:Touch