3D Visualization and Interactive Image Manipulation for Surgical Planning in Robot-assisted Surgery

Robot-assisted surgery, or robotic surgery, has been developed to address the difficulties with the traditional laparoscopic surgery. The da Vinci (Intuitive Surgical, CA and USA) is one of the FDA-approved surgical robotic system which is widely used in the case of abdominal surgeries like hysterectomy and cholecystectomy. The technology includes a system of master and slave tele-manipulators that enhances manipulation precision. However, inadequate guidelines and lack of a human-machine interface system for planning the ports on the abdomen surface are some of the main issues with robotic surgery. Unreachable target and mid-surgery collisions between robotic arms are the major problems that surgeons complain about in robotic surgery. The objective of this research is to design a new decision-support tool for planning port placement in robotic surgery. The decision-support system will be able to determine the optimal location of the entrance ports on the abdomen surface that is specific to the patient

A Patient-Specific 3D Model for Port Placement in Robotic Surgery

International audiencePort placement is a critical task in robotic laparoscopy surgery. A method for determining optimal port placement is proposed. A patient-specific 3D model of the abdomen was created from 3D images taken by a 3D scanner in the operating room and pre-operative medical images. Using the patient-specific 3D model, and the robot arms' configurations, the accessible 3D points (on the abdominal surface) for one robot arm were calculated. The possible port locations (as 3D points) were selected based on a performance index that is obtained from the outputs of an inverse kinematic problem. Repeating the process for the other robotic arms is expected to yield a set of optimal port locations for the individual patient

A Patient-Specific 3D Model for Port Placement in Robotic Surgery

International audiencePort placement is a critical task in robotic laparoscopy surgery. A method for determining optimal port placement is proposed. A patient-specific 3D model of the abdomen was created from 3D images taken by a 3D scanner in the operating room and pre-operative medical images. Using the patient-specific 3D model, and the robot arms' configurations, the accessible 3D points (on the abdominal surface) for one robot arm were calculated. The possible port locations (as 3D points) were selected based on a performance index that is obtained from the outputs of an inverse kinematic problem. Repeating the process for the other robotic arms is expected to yield a set of optimal port locations for the individual patient