A Framework for Preoperative Planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) Under Geometric Uncertainty
In this paper, robust preoperative planning of RAMICS is formulated. The intent of the proposed planning framework is to improve surgical outcomes by contemplating the intraoperative conditions of the surgical procedure and the geometry of the patient’s thoracic anatomy. This includes improvements in target reachability, instrument dexterity for critical surgical tasks, surgical task feasibility and visibility. Given the patient’s preoperative computed tomography images of the chest, the planning framework aims to determine the optimal location of the access ports on the ribcage, along with the optimal pose of the robotic arms relative to the patient’s anatomy. To minimize susceptibility of the results to intraoperative geometric uncertainty, the planning is formulated as a Generalized Semi-Infinite Program (GSIP) with a convex lower level problem and a multi-criteria objective function. By solving the GSIP, tolerable geometric uncertainty within the task space is increased by eliminating the likelihood of collisions and joint limit violation in a neighborhood of the surgical target.
Hamidreza Azimian Rajni V. Patel Michael D. Naish Bob Kiaii
Department of Mechanical and Materials Engineering,The University of Western Ontario (UWO),London,ON Department of Electrical and Computer Engineering and the Department of Surgery,UWO Department of Mechanical and Materials Engineering,and the Department of Electrical and Computer Eng Department of Surgery,UWO
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5018-5023
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）