Optimal planning for minimally invasive surgical robots
Optimal planning for minimally invasive surgical robots
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DOI：
10.1109/tra.2003.817061
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发表时间：
2003-10-01
期刊：
影响因子：
--
通讯作者：
Coste-Manière, E
中科院分区：
文献类型：
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作者：
Adhami, L;Coste-Manière, E
微创手术 (MIS) 在许多专业中是一种日益重要的方法，机器人有望通过提高精度和灵活性来打破此类技术的限制，发挥重要作用。然而，由于该方法的新颖性，机器人辅助微创手术（RMIS）的潜力仍远未得到充分利用。弥补这种差异的最佳直接解决方案之一是更有效地准备干预措施。本文提出了一个两步策略来优化 RMIS 干预的最关键设置，即端口放置（微创通路的切口位置）和机器人的姿势（固定关节的初始配置）。第一步依赖于外科医生干预的依赖于患者的模型，该模型转化为优化问题，其中可见性和灵活性等标准充当成本函数。第二个问题称为位姿规划问题，旨在通过在干预开始时适当分配固定的额外灵活性，在确保微创端口访问的固定位置的约束下，保证机器人在整个干预过程中无碰撞运行。
Minimally invasive surgery (MIS) is an increasingly important approach in many specialties, where robots are poised to play an important role in displacing the limits set to such techniques through increased precision and dexterity. However, the potential of robotically assisted minimally invasive surgery (RMIS) is still far from being fully exploited because of the newness of the approach. One of the best immediate solutions to remedy this discrepancy is through a more efficient preparation of the intervention. This paper presents a two-step strategy to optimize the most critical settings of an RMIS intervention, namely, the port placement (incision sites for minimally invasive access) and the pose of the robot (initial configuration of stationary joints). The first step relies on a patient-dependent modeling of the intervention by the surgeon that is transformed into an optimization problem where criteria such as visibility and dexterity serve as a cost function. The second one, referred to as the pose planning problem, aims at guaranteeing a collision-free operation of the robot throughout the intervention, by properly assigning stationary extra flexibility at the beginning of the intervention, under the constraint of ensuring the fixed positions of the minimally invasive port access.