The concept of spatial motion restriction zones in a robot-assisted surgical system

Prokhorenko, L. S.; Klimov, D. D.; Vorotnikov, Andrei; Mishchenkov, Denis; Poduraev, Yu. V.

doi:10.1007/s11701-021-01261-0

Cited by 3 publications

(2 citation statements)

References 14 publications

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“…В литературе представлены различные методы определения безопасных зон пункции, способов введения электродов в зоны, подлежащие РЧА [8][9][10][11]. При этом планирование серии из последовательных пункций при крупных опухолях не рассматривается.…”

Section: вве де ниеunclassified

Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery

Pershin,

Klimov,

Prokhorenko

et al. 2024

Ann. hir. gepatol.

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Aim. To improve the efficiency of radiofrequency ablation for large tumors by computer-aided modeling and planning of robotic surgery. Materials and methods. A set of algorithms for planning robotic electrode insertion was developed. Results. The evaluation of the technique proved its potential for achieving complete tumor processing and trajectory building with all feasible constraints. Conclusion. The set of algorithms provides computer-aid planning for sequential placement of radiofrequency ablation needles during intervention.

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Section: вве де ниеunclassified

Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery

Pershin,

Klimov,

Prokhorenko

et al. 2024

Ann. hir. gepatol.

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“…The articles [8][9][10][11] present various methods to determine safe areas of puncture, ways of inserting electrodes, and areas of placement in areas subject to RFA. However, the planning of multiple punctures for large tumors is not considered.…”

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confidence: 99%

Trajectory generation algorithms for local destruction methods in robotic surgery

Pershin

Klimov

Prokhorenko

et al. 2023

Preprint

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Background: According to current data, 90% of liver cancers are hepatocellular carcinoma (HCC) which remains a global health challenge. Radiofrequency ablation (RFA) is one of the most used ablative techniques that shows promising results with small HCC tumors. Aim: To improve the efficiency of RFA on large HCC tumors, it is proposed to carry out computer simulations to plan a robotic operation. Methods: Based on anonymized medical data, we developed a set of algorithms for planning robotic RFA electrode insertion. Results: Numerical and visual evaluations showed the possibility of achieving complete tumor coverage and constructing a trajectory with various restrictions (bones, vessels, etc.). Conclusions: The proposed set of algorithms allows automatic planning of sequential needle placement with multiple interdependent insertions for a predictable, minimally invasive procedure.

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Visualization of Data from a Multifunctional Surgical Device for Measuring Forces and Torques Using the Violin Diagram Method

Solovyev,

Vorotnikov,

Grin

et al. 2024

Lecture Notes in Electrical Engineering

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The concept of spatial motion restriction zones in a robot-assisted surgical system

Cited by 3 publications

References 14 publications

Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery

Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery

Trajectory generation algorithms for local destruction methods in robotic surgery

Visualization of Data from a Multifunctional Surgical Device for Measuring Forces and Torques Using the Violin Diagram Method

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