Computer-aided planning of trocar placement and robot settings in robot-assisted surgery
| Autor: | A. Austad, Jan Sigurd Røtnes, Ole Jakob Elle |
|---|---|
| Rok vydání: | 2001 |
| Předmět: |
medicine.medical_specialty
business.industry Computer science technology industry and agriculture Arm solution Robotics General Medicine Operating table Two degrees of freedom Surgery body regions surgical procedures operative Robotic systems medicine Computer-aided Robot Artificial intelligence business human activities Robotic arm Simulation |
| Zdroj: | CARS |
| ISSN: | 0531-5131 |
| DOI: | 10.1016/s0531-5131(01)00179-0 |
| Popis: | The Zeus robotic system consists of three separate arms. Before surgery, each arm has to be attached to the operating table. Preoperatively, a total of 21 variables have to be set manually. This includes 15 variables for all three arms in addition to three trocars placed with two degrees of freedom. There are significant constrains in changing these variables during surgery, especially because maintained sterility is demanded in the surgical field. Thus, the initial positioning of the arms and trocars is important. Algorithms for calculating robot movements and distance between arms are developed and meant to be an integrated part of a system for computer-aided planning of trocar placement and robot settings in robot-assisted surgery. The mathematical model of the robotic arms and robotic set-up is made in Matlab. The movements of all three robotic arms are recorded during a robotic procedure by reading the position of three LED pointers attached to each robotic arm. By using the recorded movements, the effect of changing external parameters, like port placement, patient position and elbow direction can be simulated through the model. It is shown that even small changes in initial robot settings may result in decreased distance, or collision, between the robotic arms. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|