scholarly journals Toward real-time tumor margin identification in image-guided robotic brain tumor resection

2017 ◽  
Author(s):  
Danying Hu ◽  
Yang Jiang ◽  
Evgenii Belykh ◽  
Yuanzheng Gong ◽  
Mark C. Preul ◽  
...  
Keyword(s):  
Brain Tumor ◽  
Real Time ◽  
Tumor Resection ◽  
Tumor Margin ◽  
Image Guided ◽  
Brain Tumor Resection

Three-dimensional Force Perception of Robotic Bipolar Forceps for Brain Tumor Resection

2021 ◽  
Author(s):  
Xiu-Heng Zhang ◽  
Heng Zhang ◽  
Zhen Li ◽  
Gui-Bin Bian
Keyword(s):  
Brain Tumor ◽  
Real Time ◽  
Force Measurement ◽  
Measurement Techniques ◽  
Tumor Resection ◽  
Three Dimensional ◽  
Contact Forces ◽  
Surgical Instruments ◽  
Force Perception ◽  
Brain Tumor Resection

Abstract Three-dimensional force perception is critically important in the enhancement of human force perception to minimize brain injuries resulting from excessive forces applied by surgical instruments in robot-assisted brain tumor resection. And surgeons are not responsive enough to interpret tool-tissue interaction forces. In previous studies, various force measurement techniques have been published. In neurosurgical scenarios, there are still some drawbacks to these presented approaches to forces perception. Because of the narrow, and slim configuration of bipolar forceps, three-dimensional contact forces on forceps tips is not easy to be traced in real-time. Five fundamental acts of handling bipolar forceps are poking, opposing, pressing, opening, and closing. The first three acts independently correspond to the axial force of z, x, y. So, in this paper, typical interactions between bipolar forceps and brain tissues have been analyzed. A three-dimensional force perception technique to collect force data on bipolar forceps tips by installing three Fiber Bragg Grating Sensors (FBGs) on each prong of bipolar forceps in real-time is proposed. Experiments using a tele-neurosurgical robot were performed on an in-vitro pig brain. In the experiments, three-dimensional forces were tracked in real-time. It is possible to experience forces at a minimum of 0.01 N. The three-dimensional force perception range is 0-4 N. The calibrating resolution on x, y, and z, is 0.01, 0.03, 0.1 N, separately. According to our observation, the measurement accuracy precision is over 95%.

scholarly journals 3A1-B04 Real-time Simulation of Brain Tumor Resection Using GPGPU(Medical Robotics and Mechatronics (1))

2014 ◽  
Vol 2014 (0) ◽  
pp. _3A1-B04_1-_3A1-B04_4
Author(s):  
Kazuya SASE ◽  
Atsushi KONNO ◽  
Teppei TSUJITA ◽  
Akira FUKUHARA ◽  
XiaoShuai CHEN ◽  
...  
Keyword(s):  
Brain Tumor ◽  
Real Time ◽  
Tumor Resection ◽  
Medical Robotics ◽  
Real Time Simulation ◽  
Time Simulation ◽  
Brain Tumor Resection

Simulation of brain tumor resection in image-guided neurosurgery

2011 ◽  
Author(s):  
Xiaoyao Fan ◽  
Songbai Ji ◽  
Kathryn Fontaine ◽  
Alex Hartov ◽  
David Roberts ◽  
...  
Keyword(s):  
Brain Tumor ◽  
Tumor Resection ◽  
Image Guided ◽  
Brain Tumor Resection
Sign in / Sign up

Export Citation Format

Share Document