Planning,simulation, and augmented reality for robotic cardiac procedures: The STARS system of the ChIR team |
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Authors: | Coste-Manière Eve Adhami Louaï Mourgues Fabien Carpentier Alain |
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Affiliation: | ChIR Medical Robotics team, INRIA Sophia Antipolis, France. eve.coste-maniere@sophia.inria.fr. |
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Abstract: | 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. |
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