Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery

Mitsuhiro Hayashibe; Naoki Suzuki; Asaki Hattori; Shigeyuki Suzuki; Kozo Konishi; Yoshihiro Kakeji; Makoto Hashizume

Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery

Mitsuhiro Hayashibe, Naoki Suzuki, Asaki Hattori, Shigeyuki Suzuki, Kozo Konishi, Yoshihiro Kakeji, Makoto Hashizume

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	Medicine Meets Virtual Reality 13
Subtitle of host publication	The Magical Next Becomes the Medical Now, MMVR 2005
Publisher	IOS Press
Pages	164-166
Number of pages	3
ISBN (Print)	1586034987, 9781586034986
Publication status	Published - 2005
Event	13th Annual Conference on Medicine Meets Virtual Reality: The Magical Next Becomes the Medical Now, MMVR 2005 - Long Beach, CA, United States Duration: 2005 Jan 26 → 2005 Jan 29

Publication series

Name	Studies in Health Technology and Informatics
Volume	111
ISSN (Print)	0926-9630
ISSN (Electronic)	1879-8365

Conference

Conference	13th Annual Conference on Medicine Meets Virtual Reality: The Magical Next Becomes the Medical Now, MMVR 2005
Country/Territory	United States
City	Long Beach, CA
Period	05/1/26 → 05/1/29

Cite this

@inproceedings{25c078c01e24400785bd618ae0cf75ee,

title = "Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery",

abstract = "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.",

author = "Mitsuhiro Hayashibe and Naoki Suzuki and Asaki Hattori and Shigeyuki Suzuki and Kozo Konishi and Yoshihiro Kakeji and Makoto Hashizume",

year = "2005",

language = "English",

isbn = "1586034987",

series = "Studies in Health Technology and Informatics",

publisher = "IOS Press",

pages = "164--166",

booktitle = "Medicine Meets Virtual Reality 13",

address = "United States",

note = "13th Annual Conference on Medicine Meets Virtual Reality: The Magical Next Becomes the Medical Now, MMVR 2005 ; Conference date: 26-01-2005 Through 29-01-2005",

}

Hayashibe, M, Suzuki, N, Hattori, A, Suzuki, S, Konishi, K, Kakeji, Y & Hashizume, M 2005, Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery. in Medicine Meets Virtual Reality 13: The Magical Next Becomes the Medical Now, MMVR 2005. Studies in Health Technology and Informatics, vol. 111, IOS Press, pp. 164-166, 13th Annual Conference on Medicine Meets Virtual Reality: The Magical Next Becomes the Medical Now, MMVR 2005, Long Beach, CA, United States, 05/1/26.

Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery. / Hayashibe, Mitsuhiro; Suzuki, Naoki; Hattori, Asaki et al.
Medicine Meets Virtual Reality 13: The Magical Next Becomes the Medical Now, MMVR 2005. IOS Press, 2005. p. 164-166 (Studies in Health Technology and Informatics; Vol. 111).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hayashibe, Mitsuhiro

AU - Suzuki, Naoki

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AU - Suzuki, Shigeyuki

AU - Konishi, Kozo

AU - Kakeji, Yoshihiro

AU - Hashizume, Makoto

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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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T3 - Studies in Health Technology and Informatics

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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

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ER -

Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery

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