&lt;title&gt;Dexterity optimization by port placement in robot-assisted minimally invasive surgery&lt;/title&gt;

Selha, Shaun; Dupont, Pierre E.; Howe, Robert D.; Torchiana, David F.

doi:10.1117/12.454734

Cited by 15 publications

(10 citation statements)

References 9 publications

(10 reference statements)

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“…7). Within a user interface (described in [14]), a total of 52 distinct clinically safe candidate port sites were identified in the intercostal spaces by an experienced surgeon. Five internal surgical sites were also selected, including one coronary site and four LIMA sites.…”

Section: B Experimental Comparisonmentioning

confidence: 99%

Port placement planning in robot-assisted coronary artery bypass

Cannon

Stoll²,

Selha³

et al. 2003

IEEE Trans. Robot. Automat.

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Properly selected port sites for robot-assisted coronary artery bypass graft (CABG) improve the efficiency and quality of these procedures. In clinical practice, surgeons select port locations using external anatomic landmarks to estimate a patient's internal anatomy. This paper proposes an automated approach to port selection based on a preoperative image of the patient, thus avoiding the need to estimate internal anatomy. Using this image as input, port sites are chosen from a grid of surgeon-approved options by defining a performance measure for each possible port triad. This measure seeks to minimize the weighted squared deviation of the instrument and endoscope angles from their optimal orientations at each internal surgical site. This performance measure proves insensitive to perturbations in both its weighting factors and moderate intraoperative displacements of the patient's internal anatomy. A validation study of this port site selection was performed. cardiac algorithm also Six surgeons dissected model vessels using the port triad selected by this algorithm with performance compared to dissection using a surgeon-selected port triad and a port triad template described by Tabaie et al., 1999. With the algorithm-selected ports, dissection speed increased by up to 43% (p = 0.046) with less overall vessel trauma. Thus, this algorithmic approach to port site selection has important clinical implications for robot-assisted CABG which warrant further investigation.

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Section: B Experimental Comparisonmentioning

confidence: 99%

Port placement planning in robot-assisted coronary artery bypass

Cannon

Stoll²,

Selha³

et al. 2003

IEEE Trans. Robot. Automat.

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“…[8, 9] developed an algorithm that uses preoperative images to provide the surgeon with a set of possible entry ports ranked with respect to tool dexterity, endoscopic viewpoint, and workspace limits. Their kinematic model was represented by a set of angles between the target and the instrument.…”

Section: Related Studiesmentioning

confidence: 99%

Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks inRobotic Minimally Invasive Surgery

Liu

Çavuşoğlu

2016

IEEE Trans. Automat. Sci. Eng.

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This paper presents algorithms for selection of needle grasp and for selection of entry ports of robotic instruments, for autonomous robotic execution of the minimally invasive surgical suturing task. A critical issue for automatic execution of surgical tasks, such as suturing, is the choice of needle grasp for the robotic system. Inappropriate needle grasp increases operating time requiring multiple regrasps to complete the desired task. In robotic minimally invasive surgery, the entry port that the surgical robot goes through into the patient’s body has a significant role on the performance of the robot. Improper entry port affects the robot’s dexterity, manipulability and reachability. The proposed methods use manipulability, dexterity and torque metrics for needle grasp selection, and employ needle grasp robustness and target location robustness metrics for port selection. The results of a case study simulation in thoracoscopic surgery is also presented to demonstrate the proposed methods. Note to Practitioners—This paper is motivated by the problem of automating low-level surgical tasks in robotic surgery, such as, suturing, retraction, dissection, and providing exposure. Specifically, this paper focuses on needle grasp and entry port selection for automating robotic surgical suturing. Selection of an appropriate way of grasping a needle is critical for successfully and robustly completing autonomous suturing. To the best authors’ knowledge, there are no earlier studies in the literature which focus on the needle grasp selection problem. The proposed approach determines how to grasp the needle by optimizing the surgical system’s manipulation performance. The existing approaches in the literature for selecting entry ports for the robotic surgical tools only consider the teleoperated robotic minimally invasive surgery, in which the surgeons directly control the robotic instruments. However, automated performance of suturing introduces additional challenges due to uncertainties in needle localization and grasping. This paper proposes two new performance metrics on selecting port locations from the perspective of autonomously performing surgical suturing, without direct involvement of the human user. The paper also presents preliminary experiments which demonstrate the effectiveness of the proposed methods.

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“…The choice of port location is solely based on the surgery requirements without the robot requirements, which is prone to result in robotic arm collision, inability to reach the surgical site, and reduced dexterity. Selha et al presented an algorithm for dexterity optimization using port placement. The optimization of port placement was solved by evaluating the dexterity, but the port and robot placements were treated as two independent problems for the dexterity solution.…”

Section: Introductionmentioning

confidence: 99%