Patient specific surgical simulator for the evaluation of the movability of bimanual robotic arms.
Identifieur interne : 001911 ( Ncbi/Curation ); précédent : 001910; suivant : 001912Patient specific surgical simulator for the evaluation of the movability of bimanual robotic arms.
Auteurs : Andrea Moglia [Italie] ; Giuseppe Turini ; Vincenzo Ferrari ; Mauro Ferrari ; Franco MoscaSource :
- Studies in health technology and informatics [ 0926-9630 ] ; 2011.
English descriptors
- KwdEn :
- Computer Simulation, Digestive System Surgical Procedures (instrumentation), Digestive System Surgical Procedures (methods), Equipment Design, Equipment Failure Analysis, Humans, Imaging, Three-Dimensional (methods), Male, Middle Aged, Models, Biological, Motion, Robotics (instrumentation), Robotics (methods), Surgery, Computer-Assisted (instrumentation), Surgery, Computer-Assisted (methods), User-Computer Interface.
- MESH :
- instrumentation : Digestive System Surgical Procedures, Robotics, Surgery, Computer-Assisted.
- methods : Digestive System Surgical Procedures, Imaging, Three-Dimensional, Robotics, Surgery, Computer-Assisted.
- Computer Simulation, Equipment Design, Equipment Failure Analysis, Humans, Male, Middle Aged, Models, Biological, Motion, User-Computer Interface.
Abstract
This work presents a simulator based on patient specific data for bimanual surgical robots. Given a bimanual robot with a particular geometry and kinematics, and a patient specific virtual anatomy, the aim of this simulator was to evaluate if a dexterous movability was obtainable to avoid collisions with the surrounding virtual anatomy in order to prevent potential damages to the tissues during the real surgical procedure. In addition, it could help surgeons to find the optimal positioning of the robot before entering the operative room. This application was tested using a haptic device to reproduce the interactions of the robot with deformable organs. The results showed good performances in terms of frame rate for the graphic, haptic, and dynamic processes.
PubMed: 21335823
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pubmed:21335823Le document en format XML
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<author><name sortKey="Moglia, Andrea" sort="Moglia, Andrea" uniqKey="Moglia A" first="Andrea" last="Moglia">Andrea Moglia</name>
<affiliation wicri:level="1"><nlm:affiliation>EndoCAS, Center for Computer Assisted Surgery, via Paradisa 2, 56124 Pisa, Italy. andrea.moglia@endocas.org</nlm:affiliation>
<country xml:lang="fr">Italie</country>
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<author><name sortKey="Turini, Giuseppe" sort="Turini, Giuseppe" uniqKey="Turini G" first="Giuseppe" last="Turini">Giuseppe Turini</name>
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<author><name sortKey="Ferrari, Vincenzo" sort="Ferrari, Vincenzo" uniqKey="Ferrari V" first="Vincenzo" last="Ferrari">Vincenzo Ferrari</name>
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<author><name sortKey="Ferrari, Mauro" sort="Ferrari, Mauro" uniqKey="Ferrari M" first="Mauro" last="Ferrari">Mauro Ferrari</name>
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<author><name sortKey="Mosca, Franco" sort="Mosca, Franco" uniqKey="Mosca F" first="Franco" last="Mosca">Franco Mosca</name>
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<author><name sortKey="Turini, Giuseppe" sort="Turini, Giuseppe" uniqKey="Turini G" first="Giuseppe" last="Turini">Giuseppe Turini</name>
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<author><name sortKey="Ferrari, Vincenzo" sort="Ferrari, Vincenzo" uniqKey="Ferrari V" first="Vincenzo" last="Ferrari">Vincenzo Ferrari</name>
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<author><name sortKey="Ferrari, Mauro" sort="Ferrari, Mauro" uniqKey="Ferrari M" first="Mauro" last="Ferrari">Mauro Ferrari</name>
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<series><title level="j">Studies in health technology and informatics</title>
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<term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
<term>Humans</term>
<term>Imaging, Three-Dimensional (methods)</term>
<term>Male</term>
<term>Middle Aged</term>
<term>Models, Biological</term>
<term>Motion</term>
<term>Robotics (instrumentation)</term>
<term>Robotics (methods)</term>
<term>Surgery, Computer-Assisted (instrumentation)</term>
<term>Surgery, Computer-Assisted (methods)</term>
<term>User-Computer Interface</term>
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<term>Robotics</term>
<term>Surgery, Computer-Assisted</term>
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<keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Digestive System Surgical Procedures</term>
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<term>Robotics</term>
<term>Surgery, Computer-Assisted</term>
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<term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
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<front><div type="abstract" xml:lang="en">This work presents a simulator based on patient specific data for bimanual surgical robots. Given a bimanual robot with a particular geometry and kinematics, and a patient specific virtual anatomy, the aim of this simulator was to evaluate if a dexterous movability was obtainable to avoid collisions with the surrounding virtual anatomy in order to prevent potential damages to the tissues during the real surgical procedure. In addition, it could help surgeons to find the optimal positioning of the robot before entering the operative room. This application was tested using a haptic device to reproduce the interactions of the robot with deformable organs. The results showed good performances in terms of frame rate for the graphic, haptic, and dynamic processes.</div>
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