Path Planning for Semi-automated Simulated Robotic Neurosurgery

Hu, Danying and Gong, Yuanzheng and Hannaford, Blake and Seibel, Eric J. (2015) Path Planning for Semi-automated Simulated Robotic Neurosurgery. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep28-Oct02, 2015, Hamburg. (In Press)

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Abstract

Abstract— This paper considers the semi-automated robotic surgical procedure for removing the brain tumor margins, where the manual operation is a tedious and time-consuming task for surgeons. We present robust path planning methods for robotic ablation of tumor residues in various shapes, which are represented in point-clouds instead of analytical geometry. Along with the path plans, corresponding metrics are also delivered to the surgeon for selecting the optimal candidate in the automated robotic ablation. The selected path plan is then executed and tested on RAVEN II surgical robot platform as part of the semi-automated robotic brain tumor ablation surgery in a simulated tissue phantom.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > C Surgical Robots(General)
C Surgical Robots > CA Robotic Control
C Surgical Robots > CB Automated Tools
Divisions: Department of Electrical Engineering
Department of Mechanical Engineering
Depositing User: Danying Hu
Date Deposited: 04 Jan 2016 23:23
Last Modified: 31 May 2016 03:57
URI: http://brl.ee.washington.edu/eprints/id/eprint/279

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