1. 제 목 : Image-Guided Robotic Surgery





2. 연 사 : Shinsuk Park, Ph.D


Harvard Biorobotics Laboratory





3. 일 시 : 2002년 5월 22일 (수) 16:30 - 17:30





4. 장 소 : 서울대 신공학관(301동) 1512호 세미나실





5. 내 용





We are developing virtual fixtures for the internal mammary artery (IMA) harvest portion of robot-assisted coronary artery bypass graft procedures. A preoperative CT scan is processed to define the location of the IMA. In surgery, the patient’s anatomy will be registered to the image data, then a virtual fixture will constrain the instrument’s motions, as commanded by the surgeon, to appropriate paths adjacent to the artery. CT image processing algorithms and registration protocol were developed to extract the artery location of animal models. As a preliminary in vitro test, a virtual fixture was implemented on a commercial surgical robot system, and its effectiveness was tested on phantom models. Results from a dissection task show that execution is faster and more precise than with conventional freehand techniques.


Keywords _ surgical robot, CABG, image-guidance  





6. 약 력 : 1985-1989 SNU BS


1989-1991 SNU MS


1992-1999 MIT PhD


1999-2000 Nissan Research Center


2000-Present Harvard Biorobotics Laboratory





7. 문 의 : 기계항공공학부 방 영봉 교수 (☏ 880-1697)