Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery.
Preoperative simulation and planning of surgical robot setup should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will plays an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.
Hayashibe
Mitsuhiro
M
Institute for High Dimensional Medical Imaging, Jikei University School of Medicine, 4-11-1 Izumihoncho, Komae-shi, Tokyo 201-8601, Japan.
Suzuki
Naoki
N
Hattori
Asaki
A
Suzuki
Shigeyuki
S
Konishi
Kozo
K
Kakeji
Yoshihiro
Y
Hashizume
Makoto
M
D001696:Biomechanical Phenomena; D017081:Cholecystectomy, Laparoscopic; D003198:Computer Simulation; D006801:Humans; D007564:Japan; D008279:Magnetic Resonance Imaging; D012371:Robotics; D025321:Surgery, Computer-Assisted; D014057:Tomography, X-Ray Computed; D014110:Touch