title: Using simulation to design control strategies for robotic no-scar surgery.
abstract: No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery. No-scar surgery can be performed with flexible instruments, carried by a guide under the vision of an endoscopic camera. This technique brings many benefits for the patient, but also introduces several difficulties for the surgeon. We aim at developing a teleoperated robotic system for assisting surgeons in this kind of operations. In this paper, we present a virtual simulator of the system that allows to assess different control strategies for our robot and to study possible mechanical issues.
authors: University of Strasbourg, Strasbourg Cedex, France. adedonno@unistra.fr
authors: Antonio
authors: A
authors: De Donno
authors: Florent
authors: F
authors: Nageotte
authors: Philippe
authors: P
authors: Zanne
authors: Laurent
authors: L
authors: Goffin
authors: Michel
authors: M
authors: de Mathelin
mesh_terms: D002921:Cicatrix / Q000209:etiology / Q000517:prevention & control; D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D019060:Minimally Invasive Surgical Procedures / Q000009:adverse effects / Q000295:instrumentation / Q000379:methods*; D008954:Models, Biological; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D012985:Software Design; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000379:methods*; D017216:Telemedicine / Q000295:instrumentation / Q000379:methods*