Design of Virtual Fixtures for Robotic Cholecystectomy.

Journal: Journal of laparoendoscopic & advanced surgical techniques. Part A
Published Date: May 1, 2016

Abstract

BACKGROUND AND OBJECTIVE: With the ongoing developments in robotic surgery, the associated adverse events need to be carefully evaluated. Virtual fixtures (VFs), a safety design feature against unintended motion during robotic surgery, have been proposed, but the methodology for designing VFs remains experimental. In this study, we propose a novel methodology for designing VFs for robotic cholecystectomy.

Authors

  • Zheng Li
    Department of Integrated Pulmonology, Fourth Clinical Medical College of Xinjiang Medical University, Urumqi, Xinjiang, China.
  • Guohui Wang
    2 Center of Experimental Medicine, Third Xiangya Hospital, Central South University , Changsha, China .
  • Guokai Zhang
    3 School of Mechanical Engineering, Tianjin University , Tianjin, China .
  • Zhi Song
    1 Department of General Surgery, Third Xiangya Hospital, Central South University , Changsha, China .
  • Bo Yi
    1 Department of General Surgery, Third Xiangya Hospital, Central South University , Changsha, China .
  • Juan Tan
    1 Department of General Surgery, Third Xiangya Hospital, Central South University , Changsha, China .
  • Hao Lin
    Yangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou, Zhejiang, China.
  • Xulong Sun
    1 Department of General Surgery, Third Xiangya Hospital, Central South University , Changsha, China .
  • Xuejie Li
    3 School of Mechanical Engineering, Tianjin University , Tianjin, China .
  • Shaihong Zhu
    1 Department of General Surgery, Third Xiangya Hospital, Central South University , Changsha, China .

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