title: Virtual modeling of robot-assisted manipulations in abdominal surgery.
abstract: OBJECTIVE
  To determine the effectiveness of using multidetector computed tomography (MDCT) data in preoperative planning of robot-assisted surgery.
  
  
  METHODS
  Fourteen patients indicated for surgery underwent MDCT using 64 and 256-slice MDCT. Before the examination, a specially constructed navigation net was placed on the patient's anterior abdominal wall. Processing of MDCT data was performed on a Brilliance Workspace 4 (Philips). Virtual vectors that imitate robotic and assistant ports were placed on the anterior abdominal wall of the 3D model of the patient, considering the individual anatomy of the patient and the technical capabilities of robotic arms. Sites for location of the ports were directed by projection on the roentgen-positive tags of the navigation net.
  
  
  RESULTS
  There were no complications observed during surgery or in the post-operative period. We were able to reduce robotic arm interference during surgery. The surgical area was optimal for robotic and assistant manipulators without any need for reinstallation of the trocars.
  
  
  CONCLUSIONS
  This method allows modeling of the main steps in robot-assisted intervention, optimizing operation of the manipulator and lowering the risk of injuries to internal organs.
authors: Stanislav V Berelavichus, Valeriy A Kubyshkin, Andrey G Kriger, Surgery Department of Vishnevsky Institute of Surgery, B. Serpukhovskaya Street, 27, Moscow 117997, Russia.
authors: Stanislav V
authors: SV
authors: Berelavichus
authors: Grigory G
authors: GG
authors: Karmazanovsky
authors: Vadim S
authors: VS
authors: Shirokov
authors: Valeriy A
authors: VA
authors: Kubyshkin
authors: Andrey G
authors: AG
authors: Kriger
authors: Evgeny V
authors: EV
authors: Kondratyev
authors: Olga P
authors: OP
authors: Zakharova