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Medical robots especially allow to enhance accuracy and reproducibility of the surgical gesture, while the surgeon keeps the control and decision actions. In reconstructive surgery, it has been shown that the robot could improve significantly unskilled surgeons who don’t achieve regularly these operations: the tool used to harvest skin samples, called dermatome, is mounted at the tip of a dedicated...
A method for real time simulation and interaction of deformable objects in medical simulators is proposed. We are interested in applications for training surgeons using haptic interaction. For haptic purposes, our medical simulator is based on a dual model architecture; simulation and haptics. We currently use a new physical model LEM - Long Element Method as the simulation model. We find that this...
The aim of this work is to quantify the errors introduced at different levels of applying results planned using a computer integrated system (CIS) in the operating room, and make use of these errors to adapt the transfer and rethink the planning. In particular, the registration between preoperative imaging and intraoperative patient model, as well as between the patient and the robot are addressed...
This paper presents the first live experimental results of a project aimed at developing semi-autonomy for a laparoscopic surgical robot. To achieve this goal, a special instrument-holder was designed with optical fibers and collimators. This instrument-holder projects laser dot patterns onto the organ surface which are seen in the endoscopic images. The instrument is manipulated by a commercially...
This paper concerns a biomechanical study to determine the efficiency of the motion of endoscopic robots in the colon. A quasi-linear viscoelastic model for soft tissues has been introduced to determine the mechanical behavior of colon and mesenteries. A study of efficiency of the phases of the motion, through biomechanical and geometrical factors, allowed to calculate the critical stroke to perform...
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