Patient specific surgical simulator for the evaluation of the movability of bimanual robotic arms.
Identifieur interne : 001911 ( Ncbi/Merge ); 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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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></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">21335823</PMID><DateCreated><Year>2011</Year><Month>02</Month><Day>21</Day></DateCreated><DateCompleted><Year>2011</Year><Month>05</Month><Day>17</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Print">0926-9630</ISSN><JournalIssue CitedMedium="Print"><Volume>163</Volume><PubDate><Year>2011</Year></PubDate></JournalIssue><Title>Studies in health technology and informatics</Title><ISOAbbreviation>Stud Health Technol Inform</ISOAbbreviation></Journal><ArticleTitle>Patient specific surgical simulator for the evaluation of the movability of bimanual robotic arms.</ArticleTitle><Pagination><MedlinePgn>379-85</MedlinePgn></Pagination><Abstract><AbstractText>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.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Moglia</LastName><ForeName>Andrea</ForeName><Initials>A</Initials><AffiliationInfo><Affiliation>EndoCAS, Center for Computer Assisted Surgery, via Paradisa 2, 56124 Pisa, Italy. andrea.moglia@endocas.org</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Turini</LastName><ForeName>Giuseppe</ForeName><Initials>G</Initials></Author><Author ValidYN="Y"><LastName>Ferrari</LastName><ForeName>Vincenzo</ForeName><Initials>V</Initials></Author><Author ValidYN="Y"><LastName>Ferrari</LastName><ForeName>Mauro</ForeName><Initials>M</Initials></Author><Author ValidYN="Y"><LastName>Mosca</LastName><ForeName>Franco</ForeName><Initials>F</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>Netherlands</Country><MedlineTA>Stud Health Technol Inform</MedlineTA><NlmUniqueID>9214582</NlmUniqueID><ISSNLinking>0926-9630</ISSNLinking></MedlineJournalInfo><CitationSubset>T</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D003198">Computer Simulation</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D013505">Digestive System Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019544">Equipment Failure Analysis</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D021621">Imaging, Three-Dimensional</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008297">Male</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008875">Middle Aged</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D008954">Models, Biological</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D009038">Motion</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014584">User-Computer Interface</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2011</Year><Month>2</Month><Day>22</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2011</Year><Month>2</Month><Day>22</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2011</Year><Month>5</Month><Day>18</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">21335823</ArticleId></ArticleIdList></PubmedData></pubmed><affiliations><list><country><li>Italie</li></country></list><tree><noCountry><name sortKey="Ferrari, Mauro" sort="Ferrari, Mauro" uniqKey="Ferrari M" first="Mauro" last="Ferrari">Mauro Ferrari</name><name sortKey="Ferrari, Vincenzo" sort="Ferrari, Vincenzo" uniqKey="Ferrari V" first="Vincenzo" last="Ferrari">Vincenzo Ferrari</name><name sortKey="Mosca, Franco" sort="Mosca, Franco" uniqKey="Mosca F" first="Franco" last="Mosca">Franco Mosca</name><name sortKey="Turini, Giuseppe" sort="Turini, Giuseppe" uniqKey="Turini G" first="Giuseppe" last="Turini">Giuseppe Turini</name></noCountry><country name="Italie"><noRegion><name sortKey="Moglia, Andrea" sort="Moglia, Andrea" uniqKey="Moglia A" first="Andrea" last="Moglia">Andrea Moglia</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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