Towards real-time stereoscopic depth reconstruction for laparoscopic surgery

2006 ◽  
Author(s):  
Barry McCullagh ◽  
Fergal Shevlin
Keyword(s):  
Laparoscopic Surgery ◽  
Real Time ◽  
Stereoscopic Depth ◽  
Depth Reconstruction

Sky Segmentation for Enhanced Depth Reconstruction and Bokeh Rendering with Efficient Architectures

2020 ◽  
Vol 2020 (14) ◽  
pp. 378-1-378-7
Author(s):  
Tyler Nuanes ◽  
Matt Elsey ◽  
Radek Grzeszczuk ◽  
John Paul Shen
Keyword(s):  
Real Time ◽  
Mobile Device ◽  
Computational Cost ◽  
False Positives ◽  
Compact Model ◽  
High Quality ◽  
False Negatives ◽  
Trade Off ◽  
Depth Reconstruction ◽  
Binary Classifiers

We present a high-quality sky segmentation model for depth refinement and investigate residual architecture performance to inform optimally shrinking the network. We describe a model that runs in near real-time on mobile device, present a new, highquality dataset, and detail a unique weighing to trade off false positives and false negatives in binary classifiers. We show how the optimizations improve bokeh rendering by correcting stereo depth misprediction in sky regions. We detail techniques used to preserve edges, reject false positives, and ensure generalization to the diversity of sky scenes. Finally, we present a compact model and compare performance of four popular residual architectures (ShuffleNet, MobileNetV2, Resnet-101, and Resnet-34-like) at constant computational cost.

A technique for real-time digital measurements in laparoscopic surgery

2004 ◽  
Vol 18 (4) ◽  
pp. 709-712 ◽  
Author(s):  
R. McKinlay ◽  
M. Shaw ◽  
A. Park
Keyword(s):  
Laparoscopic Surgery ◽  
Real Time ◽  
Digital Measurements

Real-time PID control of a novel RCM mechanism designed and manufactured for use in laparoscopic surgery

2019 ◽  
Vol 47 (2) ◽  
pp. 153-166
Author(s):  
Serhat Aksungur ◽  
Muhammet Aydin ◽  
Oğuz Yakut
Keyword(s):  
Laparoscopic Surgery ◽  
Real Time ◽  
Pid Control ◽  
Position Control ◽  
Control Method ◽  
Operation Time ◽  
Position Error ◽  
Reference Points ◽  
Design Stage ◽  
Content Type

Purpose The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the forward and inverse kinematic equations of the RCM mechanism and performing real-time position control with the Proportional–Integral–Derivative (PID) control method. Design/methodology/approach At the design stage, it is benefited from similar triangle rule. To obtain the kinematic equations in a simple way and facilitate control, two-fold displacement ratio is provided between the limbs where linear motion occurs. The rotation and displacement amounts required to move at the RCM point have been calculated by using the kinematic equations of the mechanism. Limb dimensions and motion limits are determined in the manner to avoid singularities and collisions. The x, y and z coordinates of the end effector have been defined as the reference point. Control of the mechanism was provided by PID control. To generate the user interface and control algorithm, MATLAB/Simulink real-time toolbox has been used. Four reference points were determined, control was performed and position error values were examined. MF634 Humusoft data acquisition card has been preferred to collect data from encoders. Findings A novel RCM mechanism has been designed and manufactured. Kinematic equations of this mechanism have been obtained. Position control of the cannula tip has been performed using PID control method for four different reference points. After settlement, maximum position error has been observed as 0.45 mm. Practical implications Structure of the designed mechanism is quite simple. Thus, costs are quite low. The operation area of the operator is widened by hanging the mechanism from the ceiling, so operational capability of health personnel is increasing. It helps to decrease the operation time and increase the success of the operation. Originality/value With this study, it is aimed to contribute to the literature by designing a new RCM mechanism. The rotation of the mechanism around the RCM point is provided by only one rotary motor, and the displacement of the RCM point in the vertical axis is provided by only one linear motor. The mechanism is also a surgical robot. The designed system is suitable for use in robot-assisted laparoscopic surgery in terms of maneuverability.

scholarly journals Aerosols, airflow, and airspace contamination during laparoscopy

2021 ◽  
Author(s):  
N Hardy ◽  
J Dalli ◽  
M F Khan ◽  
K Nolan ◽  
R A Cahill
Keyword(s):  
Laparoscopic Surgery ◽  
Real Time ◽  
Operating Room ◽  
Best Practice ◽  
Occupational Hazard ◽  
Surgical Smoke ◽  
Operating Team ◽  
Infectious Risk ◽  
Surgical Teams

Lay summary Laparoscopic surgery has been undermined throughout the COVID-19 pandemic by concerns that it may generate an infectious risk to the operating team through aerosolization of peritoneal particles. There is anyway a need for increased awareness and understanding of the occupational hazard for surgical teams regarding unfiltered escape of pollutants generated by surgical smoke and other microbials. Here, the aerosol-generating nature of this access modality was confirmed through repeatable real-time methodology both qualitatively and quantitively to inform best practice and additional engineering solutions to optimize the operating room environment.

scholarly journals Effect of royal jelly on puberty of ewe lambs

2021 ◽  
Vol 77 (09) ◽  
pp. 6566-2021
Author(s):  
Ömer Şengül ◽  
İbrahim Ak ◽  
Berna Emsen
Keyword(s):  
Laparoscopic Surgery ◽  
Real Time ◽  
Royal Jelly ◽  
Control Group ◽  
The Third ◽  
Ewe Lambs ◽  
Active Ovary ◽  
Group 15 ◽  
Real Time Ultrasonography

In this study, we investigated the effect of royal jelly on the puberty of female ¼ Romanov × ¾ Morkaraman crossbred lambs. Royal jelly was applied in two ways: orally and intravaginally. The rate of estrus as well as the day and time (in hours) of estrus were observed and determined by real-time ultrasonography (for pregnancy) and laparoscopic surgery (ovary examination). Three groups of lambs were observed. The first group, consisting of 15 female lambs, was treated intravaginally; in the second group, 15 female lambs were treated orally; and the third group, which served as control, consisted of 10 ewe lambs that were not treated with royal jelly. Estrus rates in the intravaginally and orally treated groups were 13% and 20%, respectively, whereas the control group showed no estrus activity. However, estrus interval in both groups was observed 3-5 days after the withdrawal of the treatment. All the animals had an active ovary when observed during estrus activity by ovary examination. Yearling ¼ Romanov-bred ewes respond positively to royal jelly application. Increasing the doses and extending the duration of royal jelly application might yield better results.

scholarly journals Real-time identification of blood regions for hemostasis support in laparoscopic surgery

2018 ◽  
Vol 13 (2) ◽  
pp. 405-412 ◽  
Author(s):  
Takayuki Okamoto ◽  
Takashi Ohnishi ◽  
Hiroshi Kawahira ◽  
Olga Dergachyava ◽  
Pierre Jannin ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Real Time ◽  
Real Time Identification

Minilaparoskopy (Mini Site) in surgical treatment of childbearing age patients

2015 ◽  
Vol 6 (2) ◽  
pp. 78-84 ◽  
Author(s):  
Juriy Aleksandrovich Gurkin ◽  
Andrei Nikolaevich Plekhanov
Keyword(s):  
Laparoscopic Surgery ◽  
Surgical Treatment ◽  
Real Time ◽  
20Th Century ◽  
Reproductive Potential ◽  
Well Being ◽  
Fallopian Tubes ◽  
Surgical Operation ◽  
Childbearing Age ◽  
Surgical Method

Nowadays gynecologists try to find less traumatic and more effective variants of surgical treatment. Minilaparoscopic surgery is a resultant achievement of developments in gynecology since the beginning of the 20th century. It is a novel real-time surgical method. During the last decade the authors have accomplished 270 minilaparoscopic operations. The present paper sums up our experience in minilaparoscopic operations involving the uterus, Fallopian tubes, ovaries (salpingolysis, decortication, endometriosis sites excision, gonadectomy, etc.). The advantages of this kind of surgical operation especially promising in infantile gynecology are disclosed. Among the advantages of minilaparoscopic approach in infantile gynecology the authors emphasize the decrease of preoperational period, optimization of diagnostics during the operation, sparing techniques, reduction of post-operational complications. The aforementioned features of laparoscopic surgery suggest breakthroughs in normalizing nature of treatment in gynecology improving reproductive well-being of females and reproductive potential of girls. As a result we expect better demographic and reproductive prospects in future.

scholarly journals Blood Flow Velocity of the Middle Cerebral Arteries: A Real-Time Measure of Attentional Load in the Laparoscopic Surgery Environment?

2019 ◽  
Vol 63 (1) ◽  
pp. 1481-1482
Author(s):  
Martina I. Klein ◽  
Eleanor K. Foster ◽  
Eric T. Greenlee
Keyword(s):  
Blood Flow ◽  
Laparoscopic Surgery ◽  
Flow Velocity ◽  
Real Time ◽  
Blood Flow Velocity ◽  
Cerebral Arteries ◽  
Attentional Resource ◽  
Attentional Load ◽  
Middle Cerebral Arteries ◽  
Over Time

Laparoscope (camera) rotations in laparoscopic surgery, and the resulting perceptual-motor distortions, increases the workload (attentional load) of surgeons. When attentional load is high, risks of surgical errors and patient injury increase. Blood flow velocity (BFV) changes of the middle cerebral arteries (MCAs) may serve as a real-time measure of attentional load in this environment. Seventeen undergraduates performed a laparoscopic training task (peg-transfer task) in a laparoscopic simulator at a non-rotated camera angle (0° condition−camera directly in front of the participant) and a rotated condition (camera was rotated 135° to the side). Performance (transfer speed) was superior in the 0° condition and performance in both camera conditions improved over time. Further, BFV was greater at the 135° rotation and declined over time in both conditions. The decline in BFV co-occurred with improved peg-transfer performance that occurred in both camera conditions. The results suggest that BFV changes of the MCAs are a sensitive indicator of attentional load induced by the perceptual-motor distortions inherent in laparoscopy. Thus, it may be possible to use BFV changes of the MCAs, a non-invasive measure, to assess real-time attentional load and attentional resource utilization in the surgical environment

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