Port placement selection in minimally invasive surgery

Minimal invasive surgery (MIS) has developed for almost two decades. Due to it causes smaller scaMrs, lower blood loss, shorter hospital stay, and lower morbidity rates. Nowadays, open surgery is gradually replaced by MIS, which is mainly applied to cholecystectomy, splenectomy, nephrectomy, and hepatectomy. The purpose in the research is to arrange the port placement and instruments location by considering the three-dimensional abdominal model, the biomedical limitation, and the fluency of surgery. For instrument operation, two angles is considered in, and “weighting” is taken into consideration. In addition, this research develops an information integration and treatment planning for minimally invasive surgical system, and verifies its accuracy and stability by in-vivo experiments. The achievement of the paper will provide more sufficient information of anatomy in MIS. With enhancing the instruments´ degree of freedom and force feedback, MIS will be simpler. Thus the safety and the therapeutic effect in MIS will be enhanced.