Motion coordination between the operating table and imaging or surgical devices is becoming increasingly relevant for minimally invasive procedures in the hybrid operating room. In this paper, we presented a mathematical framework for the generation of a virtual remote center of motion (RCM) for a 5 degrees-of-freedom (DOFs) motorized surgical table. The capability of the table to synchronize its orientation to a rotating paired medical device was also addressed. The table inverse kinematic problem was solved by efficient algorithms, which were tested in a virtual simulation environment using a parametrized table model. The proposed solutions support arbitrary RCM position and can be adapted to different 5-DOFs table models by parameter tuning.

Remote Center of Motion and Synchronized Rotation for a Motorized Surgical Table / Cristoforetti, A.; Tessarolo, F.; Rigoni, M.; Nollo, G.. - (2020), pp. 281-286. (Intervento presentato al convegno 20th IEEE Mediterranean Electrotechnical Conference, MELECON 2020 tenutosi a Palermo, I nel June, 2020) [10.1109/MELECON48756.2020.9140481].

Remote Center of Motion and Synchronized Rotation for a Motorized Surgical Table

Cristoforetti A.;Tessarolo F.;Rigoni M.;Nollo G.
2020-01-01

Abstract

Motion coordination between the operating table and imaging or surgical devices is becoming increasingly relevant for minimally invasive procedures in the hybrid operating room. In this paper, we presented a mathematical framework for the generation of a virtual remote center of motion (RCM) for a 5 degrees-of-freedom (DOFs) motorized surgical table. The capability of the table to synchronize its orientation to a rotating paired medical device was also addressed. The table inverse kinematic problem was solved by efficient algorithms, which were tested in a virtual simulation environment using a parametrized table model. The proposed solutions support arbitrary RCM position and can be adapted to different 5-DOFs table models by parameter tuning.
2020
20th IEEE Mediterranean Electrotechnical Conference, MELECON 2020 - Proceedings
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Institute of Electrical and Electronics Engineers Inc.
978-1-7281-5200-4
Cristoforetti, A.; Tessarolo, F.; Rigoni, M.; Nollo, G.
Remote Center of Motion and Synchronized Rotation for a Motorized Surgical Table / Cristoforetti, A.; Tessarolo, F.; Rigoni, M.; Nollo, G.. - (2020), pp. 281-286. (Intervento presentato al convegno 20th IEEE Mediterranean Electrotechnical Conference, MELECON 2020 tenutosi a Palermo, I nel June, 2020) [10.1109/MELECON48756.2020.9140481].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/295497
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