Abstract
The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS). This specialized surgical technique, aimed at addressing rectal cancer, requires an in-depth comprehension of the spatial dynamics within the narrow space of the pelvis. Leveraging Magnetic Resonance Imaging (MRI) scans as a foundational dataset, this study incorporates them into Computer-Aided Design (CAD) software to generate precise three-dimensional (3D) reconstructions of the patient’s anatomy. At the core of this research is the analysis of the surgical workspace, a critical aspect in the optimization of robotic interventions. Sophisticated computational algorithms process MRI data within the CAD environment, meticulously calculating the dimensions and contours of the pelvic internal regions. The outcome is a nuanced understanding of both viable and restricted zones during LRS, taking into account factors such as curvature, diameter variations, and potential obstacles. This paper delves deeply into the complexities of workspace analysis for robotic LRS, illustrating the seamless collaboration between medical imaging, CAD software, and surgical robotics. Through this interdisciplinary approach, the study aims to surpass traditional surgical methodologies, offering novel insights for a paradigm shift in optimizing robotic interventions within the complex environment of the pelvis.
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Acknowledgements
This research was supported by CSIR-Central Scientific Instruments Organization, Chandigarh, India, Centre Hospitalier Universitaire de Nantes, and Centrale Nantes, France. This research is funded by the Indian Council of Medical Research, New Delhi, India under the “Senior Research Fellowship” (File no.5/3/8/46/ITR-F/2022) and Centrale Nantes, Nantes, France under Contrat doctoral privé (décret 2021–1233) awarded to Mr. Dhruva Rajesh Khanzode & by AMI CHU /Centrale Nantes financing, awarded to Ms. Alexandra Thomieres. This research was supported by the project New Smart and Adaptive Robotics Solutions for Personalized Minimally Invasive Surgery in Cancer Treatment - ATHENA, funded by the European Union - NextGenerationEU and Romanian Government, under National Recovery and Resilience Plan for Romania, contract no. 760072 /23.05.2023, code CF 16/15.11.2022, through the Romanian Ministry of Research, Innovation and Digitalization, within Component 9, investment I8.
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Thomieres, A., Khanzode, D., Duchalais, E., Jha, R., Chablat, D. (2024). Workspace Analysis for Laparoscopic Rectal Surgery: A Preliminary Study. In: Pisla, D., Carbone, G., Condurache, D., Vaida, C. (eds) Advances in Service and Industrial Robotics. RAAD 2024. Mechanisms and Machine Science, vol 157. Springer, Cham. https://doi.org/10.1007/978-3-031-59257-7_15
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