ROBOT-ASSISTED COMPLEX OF MINIMALLY INVASIVE ABDOMINAL SURGERY FOR AUTOMATED EXECUTION OF OPERATIONS BY METHODS OF LOCAL DESTRUCTION OF LIVER GROWTH Russian patent published in 2025 - IPC A61B34/10 A61B34/30 

FIELD: medicine.

SUBSTANCE: invention refers to medical equipment, namely to a robot-assisted system of minimally invasive abdominal surgery for automated execution of operations by methods of local destruction of liver new growths. Complex includes a surgical navigation system, an ultrasound apparatus, an electrosurgical system, a manipulator having six degrees of mobility, with a working member fixed on the mounting surface, having two additional degrees of mobility, including a transducer of the ultrasound apparatus and having the possibility of fixing a local destruction instrument. Complex has a surgical table rigidly connected by a bed to a manipulator, and a control and data processing server connected to a surgical navigation system, to a manipulator by means of a manipulator controller, to a working member and with an ultrasound apparatus and configured to output information to a graphical input/output device with a user interface, configured to perform a preliminary simulation of the flow of the operation with displaying voxel data of the working area, given target positions and trajectories of local destruction tools, and a virtual model of the manipulator, and with solution by means of server of control and data processing of inverse problem of kinematics by position taking into account limits of allowable values of generalized coordinates for all points of specified trajectories, selected with such discrete, in order to simulate the manipulator movement with the specified speed limitation in order to detect errors of the operation flow planning. Management server and data processing and graphic input/output device are made with possibility to select target area from voxel data obtained on the basis of computed, magnetic resonance or positron emission tomography, subject to local destruction, critical structures and the intended area of introducing the local destruction tool, with automatic division of the target area into clusters by the KMeans algorithm, by solving a multidimensional optimization problem for the identified clusters of target positions and trajectories of local destruction tools, which do not cross critical structures and local destruction tools.

EFFECT: higher quality of robot-assisted operations performed by methods of local destruction of hepatic growths, reduced injuries for the patient and loads for operating personnel.

5 cl, 14 dwg