IEEE J Biomed Health Inform - A chance-constrained programming approach to preoperative planning of robotic cardiac surgery under task-level uncertainty.

Tópicos

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Resumo

In this paper, a novel formulation for robust surgical planning of robotics-assisted minimally invasive cardiac surgery based on patient-specific preoperative images is proposed. In this context, robustness is quantified in terms of the likelihood of intraoperative collisions and of joint limit violations. The proposed approach provides a more accurate and complete formulation than existing deterministic approaches in addressing uncertainty at the task level. Moreover, it is demonstrated that the dexterity of robotic arms can be quantified as a cross-entropy term. The resulting planning problem is rendered as a chance-constrained entropy maximization problem seeking a plan with the least susceptibility toward uncertainty at the task level, while maximizing the dexterity (cross-entropy term). By such treatment of uncertainty at the task level, spatial uncertainty pertaining to mismatches between the patient-specific anatomical model and that of the actual intraoperative situation is also indirectly addressed. As a solution method, the unscented transform is adopted to efficiently transform the resulting chance-constrained entropy maximization problem into a constrained nonlinear program without resorting to computationally expensive particle-based methods.

Resumo Limpo

paper novel formul robust surgic plan roboticsassist minim invas cardiac surgeri base patientspecif preoper imag propos context robust quantifi term likelihood intraop collis joint limit violat propos approach provid accur complet formul exist determinist approach address uncertainti task level moreov demonstr dexter robot arm can quantifi crossentropi term result plan problem render chanceconstrain entropi maxim problem seek plan least suscept toward uncertainti task level maxim dexter crossentropi term treatment uncertainti task level spatial uncertainti pertain mismatch patientspecif anatom model actual intraop situat also indirect address solut method unscent transform adopt effici transform result chanceconstrain entropi maxim problem constrain nonlinear program without resort comput expens particlebas method

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