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您的检索式：作者名="Mohammad R.Maddah"
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| 1 | Measuring organ shift and deformation for port placement in robotassisted minimally invasive surgery显示文摘Objective:Port placement is a crucial pre-operative task in robot-assisted minimally invasive surgery.Due to the insufflation process,the abdominal shape is deformed while the internal organs are shifted in position.These changes need to be considered when determining the optimal port locations for the robotic manipulators.However,intra-operative medical image acquisition systems are not always available.In this study,we aim to estimate the shift extent of the abdominal organs in humans by measuring the changed volume and position of the abdominal organs before and after insufflation in three pigs.Methods:A 3D model of the abdomen and abdominal organs was reconstructed from 3D images of the pigs taken by an MRI scanner before and after insufflation.Position shift and shape changes of the abdominal organs after insufflation were determined.The corresponding shift in port location for the robotic manipulators was determined based on the abdominal model.Results:Organ movements as a result of insufflation ranged from 6.37±0.10 cm for the spleen,to 1.64±0.22 cm for the liver.Even a slight planar motion of the target organ(e.g.,1.33±0.06 cm,2.38±0.21 cm in X-Y plane for the left kidney)can shift the access port for the robot manipulator by about 1.6 cm on the abdominal surface.Conclusions:The target organs’motion due to insufflation is a critical factor in determining port locations in robot-assisted minimally invasive surgery. | Mohammad R.Maddah Cedric Dumas Olivier Gauthier Marion Fusellier Caroline G.L.Cao | 2020 | Laparoscopic, Endoscopic and Robotic Surgery2020，3，4： | 0 |
| 2 | A decision aid for the port placement problem in robot-assisted hysterectomy显示文摘Objective:In robot-assisted minimally invasive surgery,proper port positioning ensures that surgical tools have adequate access to the surgical site and avoids mid-surgery collisions of robotic arms.To date,several guidelines have been proposed for more accurate port placement.However,challenges remain due to variations in patient morphology,anatomy,and,in particular,organ displacement due to insuf-flation in certain laparoscopic procedures.The objective of this study was to design and develop a de-cision aid for optimal port placement in robot-assisted hysterectomy that accounts for patient variability and organ displacement due to insufflation.Methods:Three components were constructed:a robot model,a patient-specific model,and an opti-mization algorithm.The three components were integrated,and the system was verified using four different patients who underwent robotic hysterectomy.Once verified,two expert surgeons were asked to evaluate the decision aid for face and construct validity.A usability test was conducted using a torso phantom with target organs located in three different locations.Two expert surgeons performed a simulated hysterectomy task with and without the decision aid to evaluate performance and satisfaction.Results:The optimization algorithm was sensitive to individual differences in anatomy in the four pa-tients.Expert surgeons successfully established face and construct validity.Usability test results showed a 28%-40% reduction in time to task completion with the optimized ports compared to expert-determined port locations without using the decision aid.Conclusions:The decision aid,based on an individualized patient-specific model,robot model,and optimization algorithm,was shown to be effective at addressing the challenges of displaced organs due to insufflation in robot-assisted hysterectomy.The face and construct validity of the decision aid was established by expert surgeons,while efficiency gains in task performance were demonstrated experimentally. | Mohammad R.Maddah Jean-Marc Classe Isabelle Jaffre Keith A.Watson Katherine S.Lin Damien Chablat Cedric Dumas Caroline G.L.Cao | 2023 | Laparoscopic, Endoscopic and Robotic Surgery2023，6，2： | 0 |
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