Computer-assisted telemanipulation: an enabling technology for endoscopic coronary artery bypass Hani Shennib, MD, Amr Bastawisy, MD, Michael J Mack,

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Presentation transcript:

Computer-assisted telemanipulation: an enabling technology for endoscopic coronary artery bypass Hani Shennib, MD, Amr Bastawisy, MD, Michael J Mack, MD, Frederic H Moll, MD The Annals of Thoracic Surgery Volume 66, Issue 3, Pages 1060-1063 (September 1998) DOI: 10.1016/S0003-4975(98)00659-6

Fig 1 Intuitive Surgical console. The surgeon sits at a distance from the operating field, which is viewed three-dimensionally from the console. The Annals of Thoracic Surgery 1998 66, 1060-1063DOI: (10.1016/S0003-4975(98)00659-6)

Fig 2 Telemanipulation arms: Two slave arms manipulate the surgical instruments. A third arm controls the thoracoscope. The Annals of Thoracic Surgery 1998 66, 1060-1063DOI: (10.1016/S0003-4975(98)00659-6)

Fig 3 A variety of endoscopic slave instruments used in totally endoscopic coronary artery bypass, eg, fine scissors, needle holders, tissue graspers, and cautery dissector. The Annals of Thoracic Surgery 1998 66, 1060-1063DOI: (10.1016/S0003-4975(98)00659-6)

Fig 4 Electronic hardware servo control permits processing of signals received from the surgeon handle and slave instruments. Feedback allows mechanical intuitive linkage. The Annals of Thoracic Surgery 1998 66, 1060-1063DOI: (10.1016/S0003-4975(98)00659-6)