Collision-free path and pose planning for a telemanipulator system in minimally invasive surgery
DFG Graduiertenkolleg 1126
The project is part of the interdisciplinary Research Training Group 1126 “Intelligent Surgery. Development of new computer-based methods for the future workplace in surgery”.
The goal is to optimize the setup for a telemanipulator-assisted minimally invasive intervention. The manipulators' pose and configuration as well as the positions of the trocars are optimized, so that all targets can be reached and no collisions between the manipulator arms occur. Additional criteria are sufficient dexterity and an optimal view over the operation area for the surgeon during the intervention.
To perform the optimization we develop a simulation environment which includes a patient model and a kinematic model of the telemanipulator. With the simulation the reachability of the target area and the risk of collisions can be evaluated.
To visualize the results projector-based methods of augmented reality are used.