TY - GEN
T1 - Technical realization of the optimal motion planning method for minimally invasive surgery
AU - Nikodem, Jan
AU - Hwang, George
AU - Rozenblit, Jerzy W.
AU - Napalkova, Liana
AU - Czapiewski, Piotr
PY - 2012
Y1 - 2012
N2 - This paper describes a mechatronic (mechanical and electronic) realization of the optimal trajectory planning and guidance algorithms for minimally invasive surgical training. Specifically, the realization implements optimal navigation paths for surgical instruments in laparoscopic exercises. The underlying system platform is the Computer-Aided Surgical Trainer (CAST) that consist of mechanical fixtures equipped with encoders and servo motors. This hardware provides a means to accurately track the tip movements of laparoscopic instruments used in minimally invasive surgery. Furthermore it provides feedback to a PID controller which implements the optimal instrument trajectories. Supporting software provides all calibration procedures necessary to maintain the desired system's accuracy. Details of the mechanical, hardware, and software components are presented, along with their limitations and preliminary results.
AB - This paper describes a mechatronic (mechanical and electronic) realization of the optimal trajectory planning and guidance algorithms for minimally invasive surgical training. Specifically, the realization implements optimal navigation paths for surgical instruments in laparoscopic exercises. The underlying system platform is the Computer-Aided Surgical Trainer (CAST) that consist of mechanical fixtures equipped with encoders and servo motors. This hardware provides a means to accurately track the tip movements of laparoscopic instruments used in minimally invasive surgery. Furthermore it provides feedback to a PID controller which implements the optimal instrument trajectories. Supporting software provides all calibration procedures necessary to maintain the desired system's accuracy. Details of the mechanical, hardware, and software components are presented, along with their limitations and preliminary results.
KW - method validation
KW - minimal invasive surgery
KW - model-based simulation
KW - surgical training system
UR - http://www.scopus.com/inward/record.url?scp=84862100994&partnerID=8YFLogxK
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U2 - 10.1109/ECBS.2012.42
DO - 10.1109/ECBS.2012.42
M3 - Conference contribution
AN - SCOPUS:84862100994
SN - 9780769546643
T3 - Proceedings - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012
SP - 195
EP - 200
BT - Proceedings - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012
T2 - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012
Y2 - 11 April 2012 through 13 April 2012
ER -