Minimally invasive robotic surgery has gained wide acceptance recently. Computer-aided features to assist the surgeon during these interventions may help to develop safer, faster, and more accurate procedures. Especially physiological motion compensation of the beating heart and online soft tissue modelling are promising features that were developed recently. This paper presents the integration of these new features into the minimally invasive robotic surgery platform MiroSurge. A central aim of this research platform is to enable evaluation and comparison of new functionalities for minimally invasive robotic surgery. The system structure of MiroSurge is presented as well as the interfaces for the new functionalities. Some details about the modules for motion tracking and for soft tissue simulation are given. Results are shown with an experimental setup that includes a heart motion simulator and dedicated silicone organ models. Both features are integrated seamlessly and work reliably in the chosen setup. The MiroSurge platform thus shows the potential to provide valuable results in evaluating new functionalities for minimally invasive robotic surgery.

中文翻译：

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将机器人机器人外科手术的新功能集成到Mirosurge系统中

微创机器人手术近来得到了广泛的接受。在这些干预过程中协助外科医生的计算机辅助功能可能有助于开发更安全，更快和更准确的程序。尤其是跳动心脏的生理运动补偿和在线软组织建模是最近开发的有前途的功能。本文介绍了将这些新功能集成到微创机器人手术平台MiroSurge中的过程。该研究平台的主要目标是能够评估和比较微创机器人手术的新功能。介绍了MiroSurge的系统结构以及新功能的接口。给出了有关用于运动跟踪和软组织模拟的模块的一些详细信息。通过实验设置显示结果，其中包括心脏运动模拟器和专用的有机硅器官模型。两种功能均无缝集成，并在所选设置中可靠地工作。因此，MiroSurge平台具有潜力，可为评估微创机器人手术的新功能提供有价值的结果。