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A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS)

Lohmann, Martin and Konietschke, Rainer and Hellings, Anja and Borst, Christoph and Hirzinger, Gerhard (2012) A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS). CURAC 2012, 15.-16. Nov. 2012, Düsseldorf.

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Abstract

This paper presents a new method to calculate and display an approximated workspace of a surgical robot in nearly realtime. Displaying this information on a screen in the operation room could support the surgeon during intraoperative trocar placement for teleoperated minimally invasive robotic surgery (MIRS). We give a short overview on existing trocar placement procedures in teleoperated MIRS and describe the possibilities and limitations of workspace analysis methods to support the surgeon during trocar placement. Our new method uses MIRS-specific simplifications to reduce the search space and enable the creation of a reduced workspace map. It was implemented for the DLR MiroSurge system. The implementation can create a reduced workspace map and display a mesh representation of the map in less than 2 seconds. We give a short outlook on how this method could be embedded in trocar placement procedures in the operation theater and what our future plans are with this method.

Item URL in elib:https://elib.dlr.de/79364/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS)
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lohmann, MartinMartin.Lohmann (at) dlr.deUNSPECIFIED
Konietschke, RainerRainer.Konietschke (at) dlr.deUNSPECIFIED
Hellings, AnjaAnja.Hellings (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Hirzinger, GerhardGerhard.Hirzinger (at) dlr.deUNSPECIFIED
Date:15 November 2012
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:robotic surgery, minimal invasive surgery, setup planning, workspace analysis
Event Title:CURAC 2012
Event Location:Düsseldorf
Event Type:national Conference
Event Dates:15.-16. Nov. 2012
Organizer:Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Lohmann, Martin
Deposited On:13 Dec 2012 15:46
Last Modified:31 Jul 2019 19:38

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