title: Patient specific surgical simulator for the evaluation of the movability of bimanual robotic arms.
abstract: This work presents a simulator based on patient specific data for bimanual surgical robots. Given a bimanual robot with a particular geometry and kinematics, and a patient specific virtual anatomy, the aim of this simulator was to evaluate if a dexterous movability was obtainable to avoid collisions with the surrounding virtual anatomy in order to prevent potential damages to the tissues during the real surgical procedure. In addition, it could help surgeons to find the optimal positioning of the robot before entering the operative room. This application was tested using a haptic device to reproduce the interactions of the robot with deformable organs. The results showed good performances in terms of frame rate for the graphic, haptic, and dynamic processes.
authors.affiliation: EndoCAS, Center for Computer Assisted Surgery, via Paradisa 2, 56124 Pisa, Italy. andrea.moglia@endocas.org
authors.forename: Andrea
authors.initials: A
authors.lastname: Moglia
authors.forename: Giuseppe
authors.initials: G
authors.lastname: Turini
authors.forename: Vincenzo
authors.initials: V
authors.lastname: Ferrari
authors.forename: Mauro
authors.initials: M
authors.lastname: Ferrari
authors.forename: Franco
authors.initials: F
authors.lastname: Mosca
mesh_terms: D003198:Computer Simulation; D013505:Digestive System Surgical Procedures / Q000295:instrumentation* / Q000379:methods*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods; D008297:Male; D008875:Middle Aged; D008954:Models, Biological; D009038:Motion; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*; D014584:User-Computer Interface