Recently, minimally invasive cardiothoracic surgery (MICS) has grown in popularity thanks to its advantages over conventional surgery and advancements in surgical robotics. This paper presents a patient-specific virtual surgical simulator for the movability evaluation of single-port MICS robots. This simulator can be used for both the pre-operative planning to rehearse the case before the surgery, and to test the robot in the early stage of development before physical prototypes are built. A physical simulator is also proposed to test the robot prototype in a tangible environment. Synthetic replicas of the patient organs are able to replicate the mechanical behaviors of biological tissues, allowing the simulation of the physical interactions robot-anatomy. The preliminary tests of the virtual simulator showed good performance for both the visual and physics processes. After reviewing the physical simulator, a surgeon provided a positive evaluation of the organ replicas in terms of geometry and mechanical behaviors.

Patient specific virtual and physical simulation platform for surgical robot movability evaluation in single-access robot-assisted minimally-invasive cardiothoracic surgery

Turini, Giuseppe
Primo
;
Condino, Sara
Secondo
;
Sinceri, Sara;Ferrari, Vincenzo
Ultimo
;
Ferrari, Mauro
2017-01-01

Abstract

Recently, minimally invasive cardiothoracic surgery (MICS) has grown in popularity thanks to its advantages over conventional surgery and advancements in surgical robotics. This paper presents a patient-specific virtual surgical simulator for the movability evaluation of single-port MICS robots. This simulator can be used for both the pre-operative planning to rehearse the case before the surgery, and to test the robot in the early stage of development before physical prototypes are built. A physical simulator is also proposed to test the robot prototype in a tangible environment. Synthetic replicas of the patient organs are able to replicate the mechanical behaviors of biological tissues, allowing the simulation of the physical interactions robot-anatomy. The preliminary tests of the virtual simulator showed good performance for both the visual and physics processes. After reviewing the physical simulator, a surgeon provided a positive evaluation of the organ replicas in terms of geometry and mechanical behaviors.
2017
9783319609270
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11568/898559
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