title: Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery.
abstract: 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.
authors.affiliation: Institute for High Dimensional Medical Imaging, Jikei University School of Medicine, 4-11-1 Izumihoncho, Komae-shi, Tokyo 201-8601, Japan.
authors.forename: Mitsuhiro
authors.initials: M
authors.lastname: Hayashibe
authors.forename: Naoki
authors.initials: N
authors.lastname: Suzuki
authors.forename: Asaki
authors.initials: A
authors.lastname: Hattori
authors.forename: Shigeyuki
authors.initials: S
authors.lastname: Suzuki
authors.forename: Kozo
authors.initials: K
authors.lastname: Konishi
authors.forename: Yoshihiro
authors.initials: Y
authors.lastname: Kakeji
authors.forename: Makoto
authors.initials: M
authors.lastname: Hashizume
mesh_terms: 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