Technical realization of the optimal motion planning method for minimally invasive surgery

Jan Nikodem, George Hwang, Jerzy W. Rozenblit, Liana Napalkova, Piotr Czapiewski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012
Pages195-200
Number of pages6
DOIs
StatePublished - May 24 2012
Event2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012 - Novi Sad, Serbia
Duration: Apr 11 2012Apr 13 2012

Publication series

NameProceedings - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012

Other

Other2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012
CountrySerbia
CityNovi Sad
Period4/11/124/13/12

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Keywords

  • method validation
  • minimal invasive surgery
  • model-based simulation
  • surgical training system

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Nikodem, J., Hwang, G., Rozenblit, J. W., Napalkova, L., & Czapiewski, P. (2012). Technical realization of the optimal motion planning method for minimally invasive surgery. In Proceedings - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012 (pp. 195-200). [6195187] (Proceedings - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012). https://doi.org/10.1109/ECBS.2012.42