Computer Assisted Surgical Intervention

Shah Hrishi Shivaswamy Anirudh

Introduction ,[object Object],[object Object],[object Object],[object Object],[object Object]

History ,[object Object],[object Object],[object Object],Newer version of Probot 

Classification of surgical systems ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Surgical Robots ,[object Object],[object Object],[object Object]

Typical Workflow of surgical robots

Service Robots. ,[object Object],[object Object],[object Object]

Simulators ,[object Object],[object Object],[object Object],Simulator for Orthopaedic operation 

Applications ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Orthopaedics. ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Parallel Link Robot CRIGOS 

Urology. ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Radiosurgery. ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Accuray Cyberknife 

Endoscopy/Colonoscopy/Laparoscopy ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Endoassist in operation 

Cardiac Surgery. ,[object Object],[object Object],[object Object],DaVinci robot in operation 

Case study – Needle Insertion… Introduction ,[object Object],[object Object],[object Object],[object Object],[object Object],Overall setup of system 

Case study – Needle Insertion… Virtual Spring Model ,[object Object],[object Object],Tissue interaction modeled as springs Linear system model

Case study – Needle Insertion… Forward / Inverse Kinematics ,[object Object],[object Object]

Case study – Needle Insertion… Path Planning / Optimization ,[object Object],[object Object],[object Object],Multiple solutions for path with same endpoint 

Case study – Needle Insertion… Control Loop. ,[object Object],[object Object],Control Loop Diagram

Case study – Needle Insertion Needle Detection. ,[object Object],[object Object],[object Object],[object Object],Actual Needle profile from Fluoroscopy Interpolated needle profile

Current Trends… ,[object Object],[object Object],[object Object]

Challenges/Future Scope ,[object Object],[object Object],[object Object],[object Object]

References ,[object Object],[object Object],[object Object],[object Object]

Computer Assisted Surgical Intervention

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