Modeling patients for optimized port placement in robot-assisted surgery

Jose Bañez, Stéphane Caro, Steven Schwaitzberg, Jean Marc Classe, Caroline G.L. Cao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robot-assisted laparoscopic surgery is gaining popularity because it has been shown to improve accuracy, reduce errors, and assists surgeons in performing more difficult procedures. However, positioning the ports and posing the robot arms to be able to perform the intervention while avoiding tool or arm collisions can be a lengthy and difficult process. The aim of this project was to design a decision aid for patient-specific, optimal port placement in pre-operative planning. This paper presents the analysis and design methods, including the building of separate patient and robot models. Based on a requirements analysis, a symbolic model of the robot was created based on the da Vinci Si Surgical System using the modified Denavit-Hartenberg (DH) parameters to define its work volume. Data from anthropometric tables and patients undergoing laparoscopic procedures were collected to create a library of realistic patient models. These two models, combined in a 3D interactive virtual environment, allow selection of suitable port locations, and a pose and position plan for the robotic arms with unrestricted access to the target area while avoiding collisions between instruments and other objects in the operating room. A simple and elegant protocol was then designed to collect actual patient data for validation of the models. Once validated, this model can be used for any robotic procedure within the abdomen.

Original languageEnglish (US)
Title of host publicationASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012
Pages821-826
Number of pages6
DOIs
StatePublished - 2012
Externally publishedYes
EventASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012 - Nantes, France
Duration: Jul 2 2012Jul 4 2012

Publication series

NameASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012
Volume2

Conference

ConferenceASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012
Country/TerritoryFrance
CityNantes
Period7/2/127/4/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

Fingerprint

Dive into the research topics of 'Modeling patients for optimized port placement in robot-assisted surgery'. Together they form a unique fingerprint.

Cite this