Preoperative planning system for surgical robotics setup with kinematics and haptics

M. Hayashibe, N. Suzuki, M. Hashizume, Y. Kakeji, K. Konishi, S. Suzuki, A. Hattori

Research output: Contribution to journalArticlepeer-review

38 Citations (Scopus)


Recently, some useful robotic surgical systems have been developed and applied in many surgical situations. Systems such as the da VinciTM surgical system of Intuitive Surgical Inc., which facilitates minimally invasive surgery with increased dexterity, are commercially available. Preoperative simulation and planning of surgical robot setups should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will play an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.

Original languageEnglish
Pages (from-to)76-85
Number of pages10
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Issue number2
Publication statusPublished - Jan 2005

All Science Journal Classification (ASJC) codes

  • Surgery
  • Biophysics
  • Computer Science Applications


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