NDLI: A framework for preoperative planning of robotics-assisted minimally invasive cardiac surgery (RAMICS) under geometric uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Azimian, H. Patel, R.V. Naish, M.D. Kiaii, B.
Copyright Year	2011
Description	Author affiliation: CSTAR, the Department of Electrical and Computer Engineering and the Department of Surgery, UWO, Canada (Patel, R.V.) \|\| Canadian Surgical Technologies and Advanced Robotics (CSTAR), Lawson Health Research Institute, 339 Windermere Road, London, ON, Canada (Azimian, H.) \|\| CSTAR, the Department of Mechanical and Materials Engineering, and the Department of Electrical and Computer Engineering, UWO, Canada (Naish, M.D.) \|\| CSTAR and the Department of Surgery, UWO, Canada (Kiaii, B.)
Abstract	In this paper, robust preoperative planning of RAMICS is formulated. The intent of the proposed planning framework is to improve surgical outcomes by contemplating the intraoperative conditions of the surgical procedure and the geometry of the patient's thoracic anatomy. This includes improvements in target reachability, instrument dexterity for critical surgical tasks, surgical task feasibility and visibility. Given the patient's preoperative computed tomography images of the chest, the planning framework aims to determine the optimal location of the access ports on the ribcage, along with the optimal pose of the robotic arms relative to the patient's anatomy. To minimize susceptibility of the results to intraoperative geometric uncertainty, the planning is formulated as a Generalized Semi-Infinite Program (GSIP) with a convex lower level problem and a multi-criteria objective function. By solving the GSIP, tolerable geometric uncertainty within the task space is increased by eliminating the likelihood of collisions and joint limit violation in a neighborhood of the surgical target.
Starting Page	5018
Ending Page	5023
File Size	803136
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980143
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Uncertainty Wrist Instruments Surgery Endoscopes Joints
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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