Towards improving safety in Robot-Assisted Micro-Neurosurgery with Virtual Reality Simulation: A case of study in transsphenoidal tumor resection

摘要

As the medical robotic systems evolve, becoming more sophisticated in their working, it is possible to assist minimally-invasive surgical procedures that otherwise could be impossible or risky using traditional approaches. Despite the evident benefits of these robotic systems, there are many open problems that must be solved to guarantee the safety before the commercialization and introduction of these systems into the surgical room. In the other hand, the use of virtual reality (VR) simulators may play an active role during the development of the robotic systems. In this work we explore the use of VR simulation applied to robot-assisted transsphenoidal tumor resection, to incorporating collision avoidance and posture correction to an articulated tool, the results suggest a decrease in the number of collisions by adding constraints inside the VR simulation, which are solved as part of the interaction flow.