Visual Servoing for Beating Heart Surgery - Visual Servoing via Advanced Numerical Methods - page 108

vessels' ramifications. Visual servoing using medical imaging feedback (MRI, CT,
fluoroscopy) could be used to automatically guide the tip of the catheter towards
the stenosis. However, PCI is only suitable for non-severe coronary artery disease.
Therefore, CABG is still the only solution for many patients and probably for a
long time.
Off-pump TECAB is surely the future of CABG. Visual servoing can help sim-
plifying the procedure for the surgeon mainly by improving the stabilization of the
suturing site. It is possible that additional improvements are needed to achieve this
complicated gesture with maximal safety. For example, the use of redundant modal-
ities to track the coronary artery could improve the robustness and the quality of
the task ( e.g. by using ultrasound imaging). More generally, visual servoing using
medical imaging feedback seems to be a promising way of research. A great boost
could be given in this direction by improving the real-time low-level access to the
image data through a new dedicated normalized channel. But almost everything has
still to be done on this matter. Only tight collaborations between medical imaging
device manufacturers and visual servoing experts could yield such a new standard.
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