Abstract
Recently, minimally invasive cardiothoracic surgery (MICS) has grown in popularity thanks to its advantages over conventional surgery and advancements in surgical robotics.
This paper presents a patient-specific virtual surgical simulator for the movability evaluation of single-port MICS robots. This simulator can be used for both the pre-operative planning to rehearse the case before the surgery, and to test the robot in the early stage of development before physical prototypes are built.
A physical simulator is also proposed to test the robot prototype in a tangible environment. Synthetic replicas of the patient organs are able to replicate the mechanical behaviors of biological tissues, allowing the simulation of the physical interactions robot-anatomy.
The preliminary tests of the virtual simulator showed good performance for both the visual and physics processes.
After reviewing the physical simulator, a surgeon provided a positive evaluation of the organ replicas in terms of geometry and mechanical behaviors.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Baccarin, L.S., Casarin, R.C.V., Lopes-da Silva, J.V., Passeri, L.A.: Analysis of mandibular test specimens used to assess a bone fixation system. Craniomaxillofacial Trauma Reconstr. 8(03), 171–178 (2015)
Bhatt, A.G., Steinberg, J.S.: Robotic-assisted left ventricular lead placement. Card. Electrophysiol. Clin. 7(4), 649–659 (2015)
Bush, B., Nifong, L.W., Alwair, H., Chitwood Jr., W.R.: Video-atlas on robotically assisted mitral valve surgery. Ann. Cardiothorac. Surg. 2(6), 846–848 (2013)
Carbone, M., Condino, S., Mattei, L., Forte, P., Ferrari, V., Mosca, F.: Anthropomorphic ultrasound elastography phantoms: Characterization of silicone materials to build breast elastography phantoms. In: 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 492–494. IEEE (2012)
Celi, S., Berti, S.: In-vivo segmentation and quantification of coronary lesions by optical coherence tomography images for a lesion type definition and stenosis grading. Med. Image Anal. 18(7), 1157–1168 (2014)
Condino, S., Carbone, M., Ferrari, V., Faggioni, L., Peri, A., Ferrari, M., Mosca, F.: How to build patient-specific synthetic abdominal anatomies. An innovative approach from physical toward hybrid surgical simulators. Int. J. Med. Robot. 7(2), 202–213 (2011)
De Luca, V., Meo, A., Mongelli, A., Vecchio, P., De Paolis, L.T.: Development of a virtual simulator for microanastomosis: new opportunities and challenges. In: Paolis, L.T., Mongelli, A. (eds.) AVR 2016. LNCS, vol. 9769, pp. 65–81. Springer, Cham (2016). doi:10.1007/978-3-319-40651-0_6
Degani, A., Choset, H., Wolf, A., Zenati, M.A.: Highly articulated robotic probe for minimally invasive surgery. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, pp. 4167–4172. IEEE (2006)
Folliguet, T.A., Dibie, A., Philippe, F., Larrazet, F., Slama, M.S., Laborde, F.: Robotically-assisted coronary artery bypass grafting. Cardiol. Res. Pract. 2010 (2010)
Folliguet, T.A., Laborde, F.: Robotic aortic valve replacement. In: Chitwood Jr., W.R. (ed.) Atlas of Robotic Cardiac Surgery, pp. 265–269. Springer, London (2014)
Gong, W., Cai, J., Wang, Z., Chen, A., Ye, X., Li, H., Zhao, Q.: Robot-assisted coronary artery bypass grafting improves short-term outcomes compared with minimally invasive direct coronary artery bypass grafting. J. Thorac. Dis. 8(3), 459–468 (2016)
Iribarne, A., Easterwood, R., Chan, E.Y., Yang, J., Soni, L., Russo, M.J., Smith, C.R., Argenziano, M.: The golden age of minimally invasive cardiothoracic surgery: current and future perspectives. Future Cardiol. 7(3), 333–346 (2011)
Moglia, A., Turini, G., Ferrari, V., Ferrari, M., Mosca, F.: Patient specific surgical simulator for the evaluation of the movability of bimanual robotic arms. Stud. Health Technol. Inf. 163, 379–385 (2011)
Neuzil, P., Cerny, S., Kralovec, S., Svanidze, O., Bohuslavek, J., Plasil, P., Jehlicka, P., Holy, F., Petru, J., Kuenzler, R., et al.: Single-site access robot-assisted epicardial mapping with a snake robot: preparation and first clinical experience. J. Robot. Surg. 7(2), 103–111 (2013)
Paci, A., Marcutti, S., Ricci, S., Casadio, M., Vercelli, G.V., Marchiolè, P., Cordone, M.: eBSim: development of a low-cost obstetric simulator. In: Paolis, L.T., Mongelli, A. (eds.) AVR 2016. LNCS, vol. 9769, pp. 101–110. Springer, Cham (2016). doi:10.1007/978-3-319-40651-0_9
Parchi, P., Condino, S., Carbone, M., Gesi, M., Ferrari, V., Ferrari, M., Lisanti, M.: Total hip replacement simulators with virtual planning and physical replica for surgical training and rehearsal. In: Proceedings of the 12th IASTED International Conference on Biomedical Engineering, BioMed 2016, pp. 97–101 (2016)
Parchi, P., Ferrari, V., Piolanti, N., Andreani, L., Condino, S., Evangelisti, G., Lisanti, M.: Computer tomography prototyping and virtual procedure simulation in difficult cases of hip replacement surgery. Surg. Technol. Int. 23, 228–234 (2013)
Poffo, R., Toschi, A.P., Pope, R.B., Celullare, A.L., Benício, A., Fischer, C.H., Vieira, M.L.C., Teruya, A., Hatanaka, D.M., Rusca, G.F., et al.: Robotic surgery in cardiology: a safe and effective procedure. Einstein (Sao Paulo) 11(3), 296–302 (2013)
Turini, G., Moglia, A., Ferrari, V., Ferrari, M., Mosca, F.: Patient-specific surgical simulator for the pre-operative planning of single-incision laparoscopic surgery with bimanual robots. Comput. Aided Surg. 17(3), 103–112 (2012)
Wutzler, A., Wolber, T., Haverkamp, W., Boldt, L.H.: Robotic ablation of atrialfibrillation. J. Vis. Exp. JoVE 99 (2015)
Xu, K., Zheng, X.: Configuration comparison for surgical robotic systems using a single access port and continuum mechanisms. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 3367–3374. IEEE (2012)
Acknowledgments
The research leading to these results has been supported by the scientific project ValveTech (“Realizzazione di una Valvola Aortica Polimerica di Nuova Concezione ed Impiantabile Tramite Piattaforma Robotica con Tecniche di Chirurgia Mininvasiva” 2016–2018) funded by the Tuscany Region (Italy) through the call FAS SALUTE 2014.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Turini, G. et al. (2017). Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery. In: De Paolis, L., Bourdot, P., Mongelli, A. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2017. Lecture Notes in Computer Science(), vol 10325. Springer, Cham. https://doi.org/10.1007/978-3-319-60928-7_18
Download citation
DOI: https://doi.org/10.1007/978-3-319-60928-7_18
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-60927-0
Online ISBN: 978-3-319-60928-7
eBook Packages: Computer ScienceComputer Science (R0)