Integration of New Features for Telerobotic Surgery into The Mirosurge System
Minimally invasive robotic surgery has gained wide acceptance recently. Computer-aided features to assist the surgeon during these interventions may help to develop safer, faster, and more accurate procedures. Especially physiological motion compensation of the beating heart and online soft tissue m...
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| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.3233/ABB-2011-0037 |
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| _version_ | 1841524807400685568 |
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| author | Rainer Konietschke Davide Zerbato Rogério Richa Andreas Tobergte Philippe Poignet Florian A. Fröhlich Debora Botturi Paolo Fiorini Gerd Hirzinger |
| author_facet | Rainer Konietschke Davide Zerbato Rogério Richa Andreas Tobergte Philippe Poignet Florian A. Fröhlich Debora Botturi Paolo Fiorini Gerd Hirzinger |
| author_sort | Rainer Konietschke |
| collection | DOAJ |
| description | Minimally invasive robotic surgery has gained wide acceptance recently. Computer-aided features to assist the surgeon during these interventions may help to develop safer, faster, and more accurate procedures. Especially physiological motion compensation of the beating heart and online soft tissue modelling are promising features that were developed recently. This paper presents the integration of these new features into the minimally invasive robotic surgery platform MiroSurge. A central aim of this research platform is to enable evaluation and comparison of new functionalities for minimally invasive robotic surgery. The system structure of MiroSurge is presented as well as the interfaces for the new functionalities. Some details about the modules for motion tracking and for soft tissue simulation are given. Results are shown with an experimental setup that includes a heart motion simulator and dedicated silicone organ models. Both features are integrated seamlessly and work reliably in the chosen setup. The MiroSurge platform thus shows the potential to provide valuable results in evaluating new functionalities for minimally invasive robotic surgery. |
| format | Article |
| id | doaj-art-db3ff2c4208d4d0089630d91ac21e198 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-db3ff2c4208d4d0089630d91ac21e1982025-02-03T05:47:21ZengWileyApplied Bionics and Biomechanics1176-23221754-21032011-01-018225326510.3233/ABB-2011-0037Integration of New Features for Telerobotic Surgery into The Mirosurge SystemRainer Konietschke0Davide Zerbato1Rogério Richa2Andreas Tobergte3Philippe Poignet4Florian A. Fröhlich5Debora Botturi6Paolo Fiorini7Gerd Hirzinger8Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyDepartment of Computer Science, University of Verona, Verona, ItalyRobotics Department, LIRMM CNRS/Université Montpellier II, FranceInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyRobotics Department, LIRMM CNRS/Université Montpellier II, FranceInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyDepartment of Computer Science, University of Verona, Verona, ItalyDepartment of Computer Science, University of Verona, Verona, ItalyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyMinimally invasive robotic surgery has gained wide acceptance recently. Computer-aided features to assist the surgeon during these interventions may help to develop safer, faster, and more accurate procedures. Especially physiological motion compensation of the beating heart and online soft tissue modelling are promising features that were developed recently. This paper presents the integration of these new features into the minimally invasive robotic surgery platform MiroSurge. A central aim of this research platform is to enable evaluation and comparison of new functionalities for minimally invasive robotic surgery. The system structure of MiroSurge is presented as well as the interfaces for the new functionalities. Some details about the modules for motion tracking and for soft tissue simulation are given. Results are shown with an experimental setup that includes a heart motion simulator and dedicated silicone organ models. Both features are integrated seamlessly and work reliably in the chosen setup. The MiroSurge platform thus shows the potential to provide valuable results in evaluating new functionalities for minimally invasive robotic surgery.http://dx.doi.org/10.3233/ABB-2011-0037 |
| spellingShingle | Rainer Konietschke Davide Zerbato Rogério Richa Andreas Tobergte Philippe Poignet Florian A. Fröhlich Debora Botturi Paolo Fiorini Gerd Hirzinger Integration of New Features for Telerobotic Surgery into The Mirosurge System Applied Bionics and Biomechanics |
| title | Integration of New Features for Telerobotic Surgery into The Mirosurge System |
| title_full | Integration of New Features for Telerobotic Surgery into The Mirosurge System |
| title_fullStr | Integration of New Features for Telerobotic Surgery into The Mirosurge System |
| title_full_unstemmed | Integration of New Features for Telerobotic Surgery into The Mirosurge System |
| title_short | Integration of New Features for Telerobotic Surgery into The Mirosurge System |
| title_sort | integration of new features for telerobotic surgery into the mirosurge system |
| url | http://dx.doi.org/10.3233/ABB-2011-0037 |
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