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

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

*この研究の対応する著者

研究成果: Article査読

28 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)63-72
ページ数10
ジャーナルComputer Methods and Programs in Biomedicine
83
1
DOI
出版ステータスPublished - 2006 7
外部発表はい

ASJC Scopus subject areas

  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 健康情報学

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