Preoperative Planning Algorithm for Robot-Assisted Minimally Invasive Cholecystectomy Combined With Appendectomy

Abstract

Preoperative planning for robot-assisted minimally invasive surgery is critical stage. Recently, many studies focus on the preoperative planning of the robot-assisted minimally invasive single-site surgery. However, the preoperative planning for the robot-assisted minimally invasive combined surgery based on the optimization algorithm has not been reported. In order to improve the dexterity and coordination of the manipulators in the surgical areas and to reduce the preoperative adjustment time for the combined surgery, this paper proposes a preoperative planning algorithm based on the non-dominated sorting genetic algorithm II (NSGA-II) for robot-assisted minimally invasive Cholecystectomy combined with Appendectomy (RAMICA). The preoperative planning algorithm simultaneously optimizes the entry ports and configurations of the manipulators. The optimization objective functions of the preoperative planning algorithm consist of a novel global dexterity index (GDI) based on the coefficient of variation and the coordination index (CI) that reflects hand-eye coordination and instrument coordination. The constraints of the preoperative planning algorithm include the port placement constraint and the non-collision constraint. The preoperative planning scheme based on the optimization algorithm are verified by comparative simulations to provide the better dexterity and coordination of the manipulators. Finally, the contrast experiments are carried out to demonstrate the effectiveness and superiority of the preoperative planning scheme obtained by the optimization algorithm. INDEX TERMS Preoperative planning, robot-assisted minimally invasive surgery, Cholecystectomy combined with Appendectomy, NSGA-II optimization algorithm.

Bed‐mounted laparoscopic surgical robot system with novel positioning arm mechanism

“…Information for calculating the surgical possibility was obtained from previous studies. To determine the surgical possibility, a mathematical definition of the patient information is required 15,22–24 . First, to ensure the possibility of cholecystectomy, the surgical instrument should be able to reach the entire area of the gallbladder.…”

Preoperative positioning planning for a robot‐assisted minimally invasive surgical system based on accuracy and safety

“…A proper robotic arm design and preoperative planning scheme can effectively improve the quality of surgical operation and the success rate of surgery for medical practitioners, otherwise, the operation will be affected 8 . Preoperative planning refers to this process in which the surgeon holding the knife decides on the surgical plan by using the patient's pathology, as well as the surgical needs, combined with knowledge of anatomy and pathology, before the formal surgery 9 . However, in minimally invasive surgery with robotic interventions, proper incoming channels and proper positioning of the robotic arm joints are two important parts of the preoperative planning.…”

“…8 Preoperative planning refers to this process in which the surgeon holding the knife decides on the surgical plan by using the patient's pathology, as well as the surgical needs, combined with knowledge of anatomy and pathology, before the formal surgery. 9 However, in minimally invasive surgery with robotic interventions, proper incoming channels and proper positioning of the robotic arm joints are two important parts of the preoperative planning.…”