TY - GEN
T1 - Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery
AU - Hayashibe, Mitsuhiro
AU - Suzuki, Naoki
AU - Hattori, Asaki
AU - Suzuki, Shigeyuki
AU - Konishi, Kozo
AU - Kakeji, Yoshihiro
AU - Hashizume, Makoto
PY - 2005
Y1 - 2005
N2 - Preoperative simulation and planning of surgical robot setups should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will plays an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.
AB - Preoperative simulation and planning of surgical robot setups should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will plays an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.
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M3 - Conference contribution
C2 - 2005138231
AN - SCOPUS:23844465640
SN - 1586034987
SN - 9781586034986
T3 - Studies in Health Technology and Informatics
SP - 164
EP - 166
BT - Medicine Meets Virtual Reality 13
PB - IOS Press
T2 - 13th Annual Conference on Medicine Meets Virtual Reality: The Magical Next Becomes the Medical Now, MMVR 2005
Y2 - 26 January 2005 through 29 January 2005
ER -