An interactive planning system for optimal trocar site placement of surgical robot da Vinci
نویسندگان
چکیده
The initial pose of the surgical robot and the incision site of the robot arm in laparoscopic cholecystectomy have been be discussed and planned in this system. The arm holding the forceps of da Vinci system could be guided in reference to the virtual laparoscopic camera views of the patient model as in Fig. 1. Once the trocar site is determined, the manipulator makes pivoting motion around the incision point. The arm’s movable area is also shown. Fig. 2 depicts the results of laparoscopic cholecystectomy setup simulation using clinical patient data.
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Preoperative planning system for surgical robotics setup with kinematics and haptics.
Recently, some useful robotic surgical systems have been developed and applied in many surgical situations. Systems such as the da Vinci 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 adva...
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