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Planning and Simulation of Robotically Assisted Minimal Invasive Surgery

  • Louaï Adhami
  • Ève Coste-Manière
  • Jean-Daniel Boissonnat
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1935)

Abstract

This paper proposes a framework for pre-operative planning and simulation of robotically assisted Minimal Invasive Surgery (MIS). The design of an integrated system is presented for cardiovascular interventions. The approach consists of a planning, validation and simulation phase. The goals of each phase being, respectively, to propose suitable incision sites for the robot, to validate those site and to enable realistic simulation of the intervention. With the patient’s pre-operative data, we formulate the needs of the surgeon and the characteristics of the robot as mathematical criteria in order to optimize the settings of the intervention. Then we automatically reproduce expected surgeons’ movements and guaranty their feasibility. Finally we simulate the intervention in real-time, paying particular attention to potential collisions between the robotic arms.

Keywords

Surgical simulators robotics and robotic manipulators therapy planning 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • Louaï Adhami
    • 1
  • Ève Coste-Manière
    • 1
  • Jean-Daniel Boissonnat
    • 1
  1. 1.INRIA Sophia-AntipolisSophia-AntipolisFrance

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