Control algorithms for active relative motion cancelling for robotic assisted off-pump coronary artery bypass graft surgery

@article{avuolu2005ControlAF,
  title={Control algorithms for active relative motion cancelling for robotic assisted off-pump coronary artery bypass graft surgery},
  author={M. Cenk Çavuşoğlu and Jason Rotella and W. Newman and Sangeun Choi and Jeffrey S Ustin and S. Sastry},
  journal={ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.},
  year={2005},
  pages={431-436}
}
Use of intelligent robotic tools promises an alternative and superior way of performing off-pump coronary artery bypass graft (CABG) surgery. In the robotic-assisted surgical paradigm proposed, the conventional surgical tools are replaced with robotic instruments which are under direct control of the surgeon through teleoperation. The robotic tools actively cancel the relative motion between the surgical instruments and the point-of-interest on the beating heart, in contrast to traditional off… CONTINUE READING
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