NDLI: Port Placement for Endoscopic Cardiac Surgery Based on Robot Dexterity Optimization

Content Provider	IEEE Xplore Digital Library
Author	Trejos, A.L. Patel, R.V.
Copyright Year	2005
Description	Author affiliation: Canadian Surgical Technologies & Advanced Robotics, 339 Windermere Road, London, ON, Canada N6A 5A5 analuisa.trejos@c-star.ca (Trejos, A.L.)
Abstract	Accurate and proper placement of ports during robotically-assisted endoscopic surgery is critical to the success of the procedure. Improper placement of ports can lead to robot collisions, the inability to reach the surgical site, the inability to manipulate the tools properly, or collisions between the tools inside the patient’s body. In current practice, port placement methods do not consider the ability of the robot to manoeuvre the tools. Furthermore, there is a lack of guidance on what the position of the robot or the configuration of its arms should be. This paper proposes to choose the best port location and determine the position of the base and arms of the robot such that its performance is maximized. Performance measures developed in the past to optimize robot design and manipulation are used to optimize the placement of ports when using a surgical manipulator for artery dissection during coronary bypass surgery.
Starting Page	912
Ending Page	917
File Size	636933
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570233
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Surgery Robots Manipulators Guidelines Medical robotics Surgical instruments Endoscopes Design optimization Surges Research and development surgical planning port placement medical robotics robot dexterity
Content Type	Text
Resource Type	Article

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