Preoperative planning system for surgical robotics setup with kinematics and haptics
Preoperative planning system for surgical robotics setup with kinematics and haptics
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DOI：
10.1002/rcs.18
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发表时间：
2005-01
期刊：
影响因子：
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通讯作者：
M. Hayashibe;N. Suzuki;M. Hashizume;Y. Kakeji;K. Konishi;S. Suzuki;A. Hattori
中科院分区：
文献类型：
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作者：
M. Hayashibe;N. Suzuki;M. Hashizume;Y. Kakeji;K. Konishi;S. Suzuki;A. Hattori
近年来，一些有用的机器人手术系统已经被开发并应用于许多外科领域。诸如Intuitive Surgical Inc.的da ViniTM外科系统之类的系统是商业上可用的，该系统促进了具有更高灵活性的微创手术。如果要进一步发挥先进的机器人手术的优势，手术机器人的术前模拟和设置规划应该伴随着先进的机器人手术。规划系统的反馈将在计算机辅助机器人手术中发挥重要作用，此外，手术前患者CT/MRI图像的详细几何信息也将发挥作用。专门为腹部外科开发了合适的套管针位置的手术机器人设置模拟系统。利用套管针位置的运动学约束和机器人的逆运动学，可以对手术机器人的运动进行模拟和演练。使用临床患者数据的仿真结果验证了所提系统的有效性。版权所有(C)2005机器人出版有限公司。
Recently, some useful robotic surgical systems have been developed and applied in many surgical situations. Systems such as the da VinciTM surgical system of Intuitive Surgical Inc., which facilitates minimally invasive surgery with increased dexterity, are commercially available. Preoperative simulation and planning of surgical robot setups should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will play 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. Copyright © 2005 Robotic Publications Ltd.