Abstract
This paper proposes a framework for pre-operative planning and simulation of robotically assisted Minimal Invasive Surgery (MIS). The design of an integrated system is presented for cardiovascular interventions. The approach consists of a planning, validation and simulation phase. The goals of each phase being, respectively, to propose suitable incision sites for the robot, to validate those site and to enable realistic simulation of the intervention. With the patient’s pre-operative data, we formulate the needs of the surgeon and the characteristics of the robot as mathematical criteria in order to optimize the settings of the intervention. Then we automatically reproduce expected surgeons’ movements and guaranty their feasibility. Finally we simulate the intervention in real-time, paying particular attention to potential collisions between the robotic arms.
This work is partially supported by the Télémédecine project of the French Ministry of Research.
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Adhami, L., Coste-Manière, È., Boissonnat, JD. (2000). Planning and Simulation of Robotically Assisted Minimal Invasive Surgery. In: Delp, S.L., DiGoia, A.M., Jaramaz, B. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2000. MICCAI 2000. Lecture Notes in Computer Science, vol 1935. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-40899-4_64
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DOI: https://doi.org/10.1007/978-3-540-40899-4_64
Publisher Name: Springer, Berlin, Heidelberg
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