Grant: Research Tools and Instruments - Category 1 (<$150,000)
University of Ontario Institute of Technology
$42,755.00
Infrastructure for experiments in minimally invasive surgery
EF 2008-09
Résumé
Minimally invasive robot-assisted beating-heart surgery offers a promising option to patients with cardiovascular disease. However, it poses critical challenges in surgical safety and precision, due to the motion of the heart. In the future, many of these problems can be addressed through the use of haptic virtual fixtures,
which consist of computer-generated virtual force/tactile feedback. As with the case of real fixtures, such as a ruler guiding a pencil, haptic virtual fixtures can significantly enhance the speed of surgery and reduce the surgeon's mental stress by providing a local reference and restricting the surgeon's hand motion. In this
proposal, we request 6 degree of freedom (DOF) robots that will enable our research to expand the boundaries of this exciting area.
This research extends my past advances in virtual fixtures to develop intra-operative dynamic 3D fixtures that can be coordinated with the patient in real-time. The results from this step can be directly used in surgical training and they can provide the user or the surgeon with a patient specific haptic-enhanced environment. In this research, dynamic virtual fixtures will be built on both the surgeon and patient sides, in order to improve the safety and precision of surgical procedures. Furthermore, we will investigate the design and implementation
of an effective surgical planning process for minimally invasive procedures that include port selection, robot positioning and the constraints for special surgical tools. The requested robot device will be used to validate all stages of this research. It is essential to achieve our research goals. We believe that successful results stemming from this research program will provide powerful tools that will improve the level of safety and precision in minimally invasive surgery and therapy, and therefore potentially lead to significant long-term financial savings for the Canadian health care system. Furthermore, the use of this equipment will provide an excellent experience for training of highly qualified personnel in all areas of minimally invasive surgery, including robotics, haptics, control and automation, computer graphics, medical imaging, medical image processing.
Programme
Research Tools and Instruments - Category 1 (<$150,000)
Bénéficiaire
Emplacement
Ontario, Canada
Type de bénéficiaire
Academia
Type
Grant
Source
NSERC's Awards Data
Tel que publié
Application id
375039-2009
Name nom
Ren, Jing
Department département
Engineering and Applied Science, Faculty of
Organization id
19222
Institution établissement
University of Ontario Institute of Technology
Province en
Ontario
Province fr
Ontario
Country en
CANADA
Country fr
CANADA
Fiscal year exercice financier
2008
Competition year année de concours
2009
Award amount
42755
Program id
EQPEQ
Program nane en
Research Tools and Instruments - Category 1 (<$150,000)
Program name fr
Outils et instruments de recherche - catégorie 1 (<150 000$)
Group en
Discovery grants programs
Group fr
Programmes de subventions à la découverte
Committee code
1053
Committee name en
Mechanical Engineering - A
Committee name fr
Génie mécanique - A
Area of application code
1102
Area of application group en
Health, education and social services
Area of application group fr
Santé publique, éducation et services sociaux
Area of application en
Biomedical engineering
Area of application fr
Génie biomédical
Research subject code
2601
Research subject group en
Robotics
Research subject group fr
Robotique
Research subject en
Robotic control
Research subject fr
Systèmes de commande
Partie
1
Nb partie
1
Application title
Infrastructure for experiments in minimally invasive surgery
Keyword
NA
Application summary
Minimally invasive robot-assisted beating-heart surgery offers a promising option to patients with cardiovascular disease. However, it poses critical challenges in surgical safety and precision, due to the motion of the heart. In the future, many of these problems can be addressed through the use of haptic virtual fixtures,
which consist of computer-generated virtual force/tactile feedback. As with the case of real fixtures, such as a ruler guiding a pencil, haptic virtual fixtures can significantly enhance the speed of surgery and reduce the surgeon's mental stress by providing a local reference and restricting the surgeon's hand motion. In this
proposal, we request 6 degree of freedom (DOF) robots that will enable our research to expand the boundaries of this exciting area.
This research extends my past advances in virtual fixtures to develop intra-operative dynamic 3D fixtures that can be coordinated with the patient in real-time. The results from this step can be directly used in surgical training and they can provide the user or the surgeon with a patient specific haptic-enhanced environment. In this research, dynamic virtual fixtures will be built on both the surgeon and patient sides, in order to improve the safety and precision of surgical procedures. Furthermore, we will investigate the design and implementation
of an effective surgical planning process for minimally invasive procedures that include port selection, robot positioning and the constraints for special surgical tools. The requested robot device will be used to validate all stages of this research. It is essential to achieve our research goals. We believe that successful results stemming from this research program will provide powerful tools that will improve the level of safety and precision in minimally invasive surgery and therapy, and therefore potentially lead to significant long-term financial savings for the Canadian health care system. Furthermore, the use of this equipment will provide an excellent experience for training of highly qualified personnel in all areas of minimally invasive surgery, including robotics, haptics, control and automation, computer graphics, medical imaging, medical image processing.
