R. Bauernschmitt, M. Feuerstein, J. Traub, E.U. Schirmbeck, G. Klinker, R. Lange Optimal port placement and enhanced guidance in robotically assisted cardiac surgery Surgical Endoscopy, Volume 21, Number 4, April 2007 (bib)
	Background Optimal port placement and enhanced guidance in robotically assisted cardiac surgery is required to improve preoperative planning and intraoperative navigation. Methods Offline optimal port placement is planned on a three-dimensional virtual reconstruction of the patient’s computed tomography scan. Using this data, an accurate in vivo port placement can be performed, which is achieved by augmented reality techniques superimposing virtual models of the thorax and the teleoperator arms on top of the real worldview. Results A new system incorporating both port placement planning and intraoperative navigation in robotically assisted minimally invasive heart surgery was established to aid the operative workflow. A significant reduction of operation time by improved planning and intraoperative support is anticipated. Conclusions The enhanced intraoperative orientation possibilities may lead to further decrease in operation time and have the continuing ability to improve quality.
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