Preoperative planning of robotics-assisted minimally invasive coronary artery bypass grafting

摘要: This paper outlines a framework for the preoperative planning of robotics-assisted minimally invasive cardiac surgery with application to coronary artery bypass grafting. The intent proposed is improve surgical outcomes by considering intraoperative requirements robotic manipulators and anatomical geometry patient's chest. includes target reachability, instrument dexterity critical tasks collision avoidance. Given chest computed tomography images, aims determine optimal location access ports on ribcage, along pose arms relative anatomy. multi-objective optimality criteria consist measure clearance as well new collective kinematic measure. minimum distances among robot provides likelihood collisions. composed two modified manipulability indices that are dimensionally homogeneous and, in contrast previously-used measures, more likely yield isotropic force torque distributions when optimized interventions. results case study illustrate compatibility general guidelines used experienced surgeons port selection. Furthermore, surpasses those ensuring feasibility solutions sense avoidance reachability.