Hayashibe M, Suzuki N, Hashizume M, Kakeji Y, Konishi K, Suzuki S, Hattori A
Institute for High Dimensional Medical Imaging, The Jikei University School of Medicine, Japan.
Int J Med Robot. 2005 Jan;1(2):76-85. doi: 10.1002/rcs.18.
Recently, some useful robotic surgical systems have been developed and applied in many surgical situations. Systems such as the da Vinci surgical system of Intuitive Surgical Inc., which facilitates minimally invasive surgery with increased dexterity, are commercially available. 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 play 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.
最近，一些实用的机器人手术系统已被开发出来并应用于多种手术场景。诸如直观外科公司的达芬奇手术系统等，可通过提高灵活性来助力微创手术的系统已投入商业使用。如果要进一步发挥其优势，先进的机器人手术应伴随术前模拟和手术机器人设置规划。除了来自患者CT/MRI图像的术前详细几何信息外，规划系统的反馈在计算机辅助机器人手术中将发挥重要作用。尤其针对腹部手术，已开发出用于合适套管针穿刺点放置的手术机器人设置模拟系统。手术机器人的运动可通过套管针穿刺点处的运动学约束以及机器人的逆运动学进行模拟和预演。使用临床患者数据进行模拟的结果验证了所提系统的有效性。
