scholarly journals Real-Time Stereo Reconstruction in Robotically Assisted Minimally Invasive Surgery

2010 ◽  
pp. 275-282 ◽  
Author(s):  
Danail Stoyanov ◽  
Marco Visentini Scarzanella ◽  
Philip Pratt ◽  
Guang-Zhong Yang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Stereo Reconstruction

scholarly journals Real-Time Expanded Field-of-View for Minimally Invasive Surgery Using Multi-Camera Visual Simultaneous Localization and Mapping

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2106
Author(s):  
Ahmed Afifi ◽  
Chisato Takada ◽  
Yuichiro Yoshimura ◽  
Toshiya Nakaguchi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Simultaneous Localization And Mapping ◽  
Field Of View ◽  
Time Dynamic ◽  
Matrix Estimation ◽  
Localization And Mapping

Minimally invasive surgery is widely used because of its tremendous benefits to the patient. However, there are some challenges that surgeons face in this type of surgery, the most important of which is the narrow field of view. Therefore, we propose an approach to expand the field of view for minimally invasive surgery to enhance surgeons’ experience. It combines multiple views in real-time to produce a dynamic expanded view. The proposed approach extends the monocular Oriented features from an accelerated segment test and Rotated Binary robust independent elementary features—Simultaneous Localization And Mapping (ORB-SLAM) to work with a multi-camera setup. The ORB-SLAM’s three parallel threads, namely tracking, mapping and loop closing, are performed for each camera and new threads are added to calculate the relative cameras’ pose and to construct the expanded view. A new algorithm for estimating the optimal inter-camera correspondence matrix from a set of corresponding 3D map points is presented. This optimal transformation is then used to produce the final view. The proposed approach was evaluated using both human models and in vivo data. The evaluation results of the proposed correspondence matrix estimation algorithm prove its ability to reduce the error and to produce an accurate transformation. The results also show that when other approaches fail, the proposed approach can produce an expanded view. In this work, a real-time dynamic field-of-view expansion approach that can work in all situations regardless of images’ overlap is proposed. It outperforms the previous approaches and can also work at 21 fps.

scholarly journals A physics-based algorithm for real-time simulation of electrosurgery procedures in minimally invasive surgery

2013 ◽  
Vol 10 (4) ◽  
pp. 495-504 ◽  
Author(s):  
Zhonghua Lu ◽  
Venkata S. Arikatla ◽  
Zhongqing Han ◽  
Brian F. Allen ◽  
Suvranu De
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Real Time Simulation ◽  
Time Simulation

Real-Time 2D Surface Profile Mapping of Biological Tissue with Force Feedback in Robot-Assisted Minimally Invasive Surgery

2015 ◽  
Vol 798 ◽  
pp. 319-323
Author(s):  
Ali Reza Hassan Beiglou ◽  
Javad Dargahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Strain Gauge ◽  
Force Feedback ◽  
Surface Profile ◽  
Robot Assisted ◽  
Contact Points ◽  
Force Signal

It has been more than 20 years that robot-assisted minimally invasive surgery (RMIS) has brought remarkable accuracy and dexterity for surgeons along with the decreasing trauma for the patients. In this paper a novel method of the tissue’s surface profile mapping is proposed. The tissue surface profile plays an important role for material identification during RMIS. It is shown how by integrating the force feedback into robot controller the surface profile of the tissue can be obtained with force feedback scanning. The experiment setup includes a 5 degree of freedoms (DOFs) robot which is equipped with a strain-gauge ball caster as the force feedback. Robot joint encoders signals and the captured force signal of the strain-gauge are transferred to developed surface transformation algorithm (STA). The real-time geometrical transformation process is triggered with force signal to identify contact points between the ball caster and the artificial tissue. The 2D surface profile of tissue will be mapped based on these contact points. Real-time capability of the proposed system is evaluated experimentally for the artifical tissues in a designed test rig.

scholarly journals Development of detection method for automatic hemostasis using machine learning with abdominal cavity irrigation

2020 ◽  
Vol 7 (7) ◽  
pp. 2103
Author(s):  
Yoshihisa Matsunaga ◽  
Ryoichi Nakamura
Keyword(s):  
Machine Learning ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Abdominal Cavity ◽  
Training Dataset ◽  
Support Vector ◽  
Processing Cost ◽  
Surgical Field

Background: Abdominal cavity irrigation is a more minimally invasive surgery than that using a gas. Minimally invasive surgery improves the quality of life of patients; however, it demands higher skills from the doctors. Therefore, the study aimed to reduce the burden by assisting and automating the hemostatic procedure a highly frequent procedure by taking advantage of the clearness of the endoscopic images and continuous bleeding point observations in the liquid. We aimed to construct a method for detecting organs, bleeding sites, and hemostasis regions.Methods: We developed a method to perform real-time detection based on machine learning using laparoscopic videos. Our training dataset was prepared from three experiments in pigs. Linear support vector machine was applied using new color feature descriptors. In the verification of the accuracy of the classifier, we performed five-part cross-validation. Classification processing time was measured to verify the real-time property. Furthermore, we visualized the time series class change of the surgical field during the hemostatic procedure.Results: The accuracy of our classifier was 98.3% and the processing cost to perform real-time was enough. Furthermore, it was conceivable to quantitatively indicate the completion of the hemostatic procedure based on the changes in the bleeding region by ablation and the hemostasis regions by tissue coagulation.Conclusions: The organs, bleeding sites, and hemostasis regions classification was useful for assisting and automating the hemostatic procedure in the liquid. Our method can be adapted to more hemostatic procedures. 

Real-time instrument detection in minimally invasive surgery using radiofrequency identification technology

2013 ◽  
Vol 185 (2) ◽  
pp. 704-710 ◽  
Author(s):  
Michael Kranzfelder ◽  
Armin Schneider ◽  
Adam Fiolka ◽  
Elena Schwan ◽  
Sonja Gillen ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Radiofrequency Identification
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