Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging

Mitsuhiro Hayashibe, Naoki Suzuki, Makoto Hashizume, Kozo Konishi, Asaki Hattori

Research output: Contribution to journalArticle

26 Citations (Scopus)

Abstract

At present, there are representative robot operation systems such as da Vinci and ZEUS which have realized minimally invasive surgery by the use of dexterous manipulators. In the operating room, medical staff must prepare and set up an environment in which the robot has optimal freedom of motion and its functions can be fully demonstrated for every case. The range of motion in which the robot can reach and be maneuvered is restricted by the fixed point of the trocar site. We have developed a preoperative planning system with the function of volume rendering of medical images and automatic positioning by applying an inverse-kinematics computation of surgical robot. The motion of a surgical robot can be simulated in advance with the intuitive interface and kinematics computation program running in the background of the system. If robotic surgery planning with volume rendering of DICOM images is possible, the discussion of a surgical plan can be directly made just after the diagnosis considering the patient-specific structure. This kind of setup platform would be essential for the future introduction of surgical robotics into an operating room.

Original languageEnglish
Pages (from-to)63-72
Number of pages10
JournalComputer Methods and Programs in Biomedicine
Volume83
Issue number1
DOIs
Publication statusPublished - 2006 Jul
Externally publishedYes

Keywords

  • DICOM
  • Inverse-kinematics
  • Preoperative planning
  • Robot setup simulation
  • Robotic surgery
  • Volume rendering

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Health Informatics

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