An active constraint environment for minimally invasive heart surgery: early experience of a cutting operation
Borelli, J.; Bello, F.; Rodriguez Y Bena, F.; Davies, B.
Studies in Health Technology and Informatics 98: 31-33
2004
ISSN/ISBN: 0926-9630 PMID: 15544236 Document Number: 582855
Master/slave telemanipulator systems can be applied in minimally invasive heart surgery. However, due to the beating heart and difficulties of finding inner points inside the heart, a surgical task operation such as cutting can be very difficult. In order to avoid surgical error, the "active constraint" concept can be applied. This paper shows an example of an "active constraint" environment used for minimally invasive heart surgery. Experiments have been carried out for a 2-DOF master and the preliminary results validate the present approach.