scholarly journals Robust Orthogonal-View 2-D/3-D Rigid Registration for Minimally Invasive Surgery

Micromachines ◽  
2021 ◽  
Vol 12 (7) ◽  
pp. 844
Author(s):  
Zhou An ◽  
Honghai Ma ◽  
Lilu Liu ◽  
Yue Wang ◽  
Haojian Lu ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Test Cases ◽  
Surgical Robots ◽  
Anatomical Structures ◽  
The Public ◽  
Rigid Registration ◽  
Target Registration Error ◽  
Global Optima

Intra-operative target pose estimation is fundamental in minimally invasive surgery (MIS) to guiding surgical robots. This task can be fulfilled by the 2-D/3-D rigid registration, which aligns the anatomical structures between intra-operative 2-D fluoroscopy and the pre-operative 3-D computed tomography (CT) with annotated target information. Although this technique has been researched for decades, it is still challenging to achieve accuracy, robustness and efficiency simultaneously. In this paper, a novel orthogonal-view 2-D/3-D rigid registration framework is proposed which combines the dense reconstruction based on deep learning and the GPU-accelerated 3-D/3-D rigid registration. First, we employ the X2CT-GAN to reconstruct a target CT from two orthogonal fluoroscopy images. After that, the generated target CT and pre-operative CT are input into the 3-D/3-D rigid registration part, which potentially needs a few iterations to converge the global optima. For further efficiency improvement, we make the 3-D/3-D registration algorithm parallel and apply a GPU to accelerate this part. For evaluation, a novel tool is employed to preprocess the public head CT dataset CQ500 and a CT-DRR dataset is presented as the benchmark. The proposed method achieves 1.65 ± 1.41 mm in mean target registration error(mTRE), 20% in the gross failure rate(GFR) and 1.8 s in running time. Our method outperforms the state-of-the-art methods in most test cases. It is promising to apply the proposed method in localization and nano manipulation of micro surgical robot for highly precise MIS.

scholarly journals A learning robot for cognitive camera control in minimally invasive surgery

2021 ◽  
Author(s):  
Martin Wagner ◽  
Andreas Bihlmaier ◽  
Hannes Götz Kenngott ◽  
Patrick Mietkowski ◽  
Paul Maria Scheikl ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Autonomous Systems ◽  
Robot Kinematics ◽  
Learning Context ◽  
Surgical Robots ◽  
Camera Control ◽  
Context Sensitive ◽  
Robotic Camera

Abstract Background We demonstrate the first self-learning, context-sensitive, autonomous camera-guiding robot applicable to minimally invasive surgery. The majority of surgical robots nowadays are telemanipulators without autonomous capabilities. Autonomous systems have been developed for laparoscopic camera guidance, however following simple rules and not adapting their behavior to specific tasks, procedures, or surgeons. Methods The herein presented methodology allows different robot kinematics to perceive their environment, interpret it according to a knowledge base and perform context-aware actions. For training, twenty operations were conducted with human camera guidance by a single surgeon. Subsequently, we experimentally evaluated the cognitive robotic camera control. A VIKY EP system and a KUKA LWR 4 robot were trained on data from manual camera guidance after completion of the surgeon’s learning curve. Second, only data from VIKY EP were used to train the LWR and finally data from training with the LWR were used to re-train the LWR. Results The duration of each operation decreased with the robot’s increasing experience from 1704 s ± 244 s to 1406 s ± 112 s, and 1197 s. Camera guidance quality (good/neutral/poor) improved from 38.6/53.4/7.9 to 49.4/46.3/4.1% and 56.2/41.0/2.8%. Conclusions The cognitive camera robot improved its performance with experience, laying the foundation for a new generation of cognitive surgical robots that adapt to a surgeon’s needs.

scholarly journals Autonomy in surgical robots and its meaningful human control

2019 ◽  
Vol 10 (1) ◽  
pp. 30-43 ◽  
Author(s):  
Fanny Ficuciello ◽  
Guglielmo Tamburrini ◽  
Alberto Arezzo ◽  
Luigi Villani ◽  
Bruno Siciliano
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Case Studies ◽  
Invasive Surgery ◽  
Ethical Issues ◽  
Soft Or ◽  
Surgical Robots ◽  
Human Control ◽  
Significant Difference

AbstractThis article focuses on ethical issues raised by increasing levels of autonomy for surgical robots. These ethical issues are explored mainly by reference to state-ofart case studies and imminent advances in Minimally Invasive Surgery (MIS) and Microsurgery. In both area, surgicalworkspace is limited and the required precision is high. For this reason, increasing levels of robotic autonomy can make a significant difference there, and ethically justified control sharing between humans and robots must be introduced. In particular, from a responsibility and accountability perspective suitable policies for theMeaningfulHuman Control (MHC) of increasingly autonomous surgical robots are proposed. It is highlighted how MHC should be modulated in accordance with various levels of autonomy for MIS and Microsurgery robots. Moreover, finer MHC distinctions are introduced to deal with contextual conditions concerning e.g. soft or rigid anatomical environments.

Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

2013 ◽  
Vol 198 ◽  
pp. 3-8 ◽  
Author(s):  
Roman Trochimczuk
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Forward Kinematics ◽  
Kinematic Structure ◽  
Kinematics Analysis ◽  
Medical Robot ◽  
Surgical Robots

In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

Retrieval of retained Jamshidi needle fragments during minimally invasive surgery

2011 ◽  
Vol 14 (5) ◽  
pp. 681-684 ◽  
Author(s):  
Michael Y. Wang ◽  
Spencer Block
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Pedicle Screw ◽  
Invasive Surgery ◽  
Open Surgery ◽  
Intraoperative Complications ◽  
Surgical Techniques ◽  
Spinal Fixation ◽  
Anatomical Structures ◽  
Surrounding Bone

As surgical techniques evolve, new intraoperative complications are prone to occur. With percutaneous spinal fixation, the control of implants and instruments can be a challenge when compared with open surgery, particularly if unintended instruments are retained or difficult to retrieve. In this report, the authors describe a case in which Jamshidi needle fragments broke within the vertebral body. Extraction of the fragments was accomplished using a small pedicle screw tap to first engage the retained metal and then to loosen the surrounding bone to allow retrieval and preservation of the anatomical structures needed to complete the intended operation. This technique may prove useful for the retrieval of deformable, cannulated metal pieces in minimally invasive surgery.

Features of endoscopic anatomy of the chiasmal-sellar region in transcranial endoscopy via supraorbital keyhole-access

2020 ◽  
pp. 62-72
Author(s):  
Maxim Kutin ◽  
Abdishukur Abdilatipov ◽  
Oleg Sharipov ◽  
Pavel Karinin ◽  
Dmitry Fomichev ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Sellar Region ◽  
Anatomical Structures ◽  
Endoscopic Techniques ◽  
Endoscopic Anatomy ◽  
Microsurgical Techniques ◽  
Endoscopic Assistance

The use of endoscopic assistance in transcranial microsurgical operations has started relatively recently and is not currently used routinely in neurosurgery. With the development of neuroimaging and microsurgical techniques in neurosurgery, minimally invasive surgery is currently actively developing, which provides a reduction in the volume of access and trauma of the intervention. One of the minimally invasive approaches used in chiasmal-sellar surgery is the supraorbital keyhole-access. This work is devoted to the description of features of visualization of anatomical structures of the chiasmal-sellar region using endoscopic techniques through microsurgical supraorbital keyhole-access.

A Fully Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2011 ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Robots ◽  
Reachable Workspace ◽  
Surgical Tool ◽  
Decoupled Motion ◽  
Tool Motion

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a critical design challenge for surgical robots. However, although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) RCM mechanism is still highly anticipated. In this paper, a 4-DOF parallel manipulator with a fully decoupled RCM is presented. First, the kinematic structure of the manipulator is described. Then, the fully decoupled motion, i.e., each of the four DOFs of the end-effector can be independently controlled by one corresponding actuated joint, is verified. Further, the inverse kinematics solutions are derived and the reachable workspace of tool tip is analyzed. As a result, the proposed manipulator is a feasible candidate for providing a fully decoupled surgical tool motion for minimally invasive surgery.

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