A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery

Russell H Taylor, Court B. Cutting, Yong Yil Kim, Alan D. Kalvin, David Larose, Betsy Haddad, Deljou Khoramabadi, Marilyn Noz, Robert Olyha, Nils Bruun, Dieter Grimm

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Researchers at IBM and NYU Medical Center have recently begun development of a modelbased system for optimal planning and augmented execution of precise osteotomies to correct craniofacial malformations. In these procedures, the facial bones are cut into several fragments and relocated to give the patient a more normal facial appearance. There is a significant synergy between better presurgical planning methods and the ability to execute the plans precisely and efficiently. The planning component of our system will transform CT images into a 3D geometric model of the patient’s skull and assists the surgeon in planning an optimal procedure based on an analysis of the patient’s anatomy compared to a database of normal anatomy. The surgical component will use realtime sensing to register the modelbased surgical plan with the reality in the operating room. It will employ a variety of manmachine interface modalities (graphics, synthesized speech, etc.) together with passive manipulation aids to assist the surgeon in precise execution of his plan. This paper describes the overall system architecture, the proposed surgical procedure, implementation status, and some early experiments that we have performed.

Original languageEnglish (US)
Title of host publicationExperimental Robotics II - The 2nd International Symposium, 1991
PublisherSpringer Verlag
Pages179-195
Number of pages17
ISBN (Print)9783540198512
DOIs
StatePublished - Jan 1 1993
Externally publishedYes
Event2nd International Symposium on Experimental Robotics, ISER 1991 - Toulouse, France
Duration: Jun 25 1991Jun 27 1991

Publication series

NameLecture Notes in Control and Information Sciences
Volume190
ISSN (Print)0170-8643

Other

Other2nd International Symposium on Experimental Robotics, ISER 1991
CountryFrance
CityToulouse
Period6/25/916/27/91

Fingerprint

surgery
manipulation
planning
planning methods
synergy
experiment
ability

ASJC Scopus subject areas

  • Library and Information Sciences

Cite this

Taylor, R. H., Cutting, C. B., Kim, Y. Y., Kalvin, A. D., Larose, D., Haddad, B., ... Grimm, D. (1993). A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery. In Experimental Robotics II - The 2nd International Symposium, 1991 (pp. 179-195). (Lecture Notes in Control and Information Sciences; Vol. 190). Springer Verlag. https://doi.org/10.1007/BFb0036139

A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery. / Taylor, Russell H; Cutting, Court B.; Kim, Yong Yil; Kalvin, Alan D.; Larose, David; Haddad, Betsy; Khoramabadi, Deljou; Noz, Marilyn; Olyha, Robert; Bruun, Nils; Grimm, Dieter.

Experimental Robotics II - The 2nd International Symposium, 1991. Springer Verlag, 1993. p. 179-195 (Lecture Notes in Control and Information Sciences; Vol. 190).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Taylor, RH, Cutting, CB, Kim, YY, Kalvin, AD, Larose, D, Haddad, B, Khoramabadi, D, Noz, M, Olyha, R, Bruun, N & Grimm, D 1993, A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery. in Experimental Robotics II - The 2nd International Symposium, 1991. Lecture Notes in Control and Information Sciences, vol. 190, Springer Verlag, pp. 179-195, 2nd International Symposium on Experimental Robotics, ISER 1991, Toulouse, France, 6/25/91. https://doi.org/10.1007/BFb0036139
Taylor RH, Cutting CB, Kim YY, Kalvin AD, Larose D, Haddad B et al. A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery. In Experimental Robotics II - The 2nd International Symposium, 1991. Springer Verlag. 1993. p. 179-195. (Lecture Notes in Control and Information Sciences). https://doi.org/10.1007/BFb0036139
Taylor, Russell H ; Cutting, Court B. ; Kim, Yong Yil ; Kalvin, Alan D. ; Larose, David ; Haddad, Betsy ; Khoramabadi, Deljou ; Noz, Marilyn ; Olyha, Robert ; Bruun, Nils ; Grimm, Dieter. / A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery. Experimental Robotics II - The 2nd International Symposium, 1991. Springer Verlag, 1993. pp. 179-195 (Lecture Notes in Control and Information Sciences).
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