scholarly journals Monocular tissue reconstruction via remote center motion for robot-assisted minimally invasive surgery

2021 ◽  
Author(s):  
Peng Li ◽  
Ming Tang ◽  
Ke Ding ◽  
Xiaojun Wu ◽  
Yunhui Liu
Keyword(s):  
Minimally Invasive Surgery ◽  
Soft Tissue ◽  
Minimally Invasive ◽  
3D Reconstruction ◽  
Invasive Surgery ◽  
Soft Tissues ◽  
Texture Mapping ◽  
The Body ◽  
Depth Information ◽  
Target Area

AbstractIn minimally invasive surgery, the primary surgeon requires an assistant to hold an endoscope to obtain visual information from the body cavity. However, the two-dimensional images acquired by endoscopy lack depth information. Future automatic robotic surgeries need three-dimensional information of the target area. This paper presents a method to reconstruct a 3D model of soft tissues from image sequences acquired from a robotic camera holder. In this algorithm, a sparse reconstruction module based on the SIFT and SURF features is designed, and a multilevel feature matching strategy is proposed to improve the algorithm efficiency. To recover the realistic effect of the soft-tissue model, a complete 3D reconstruction algorithm is implemented, including densification, meshing of the point cloud and texture mapping reconstruction. During the texture reconstruction stage, a mathematical model is proposed to achieve the repair of texture seams. To verify the feasibility of the proposed method, we use a collaborative manipulator (AUBO i5) with a mounted camera to mimic an assistant surgeon holding an endoscope. To satisfy a pivotal constraint imposed by the remote center of motion (RCM), a kinematic algorithm of the manipulator is implemented, and the primary surgeon is provided with a voice control interface to control the directions of the camera with. We conducted an experiment to show a 3D reconstruction of soft tissue by the proposed method and the manipulator, which indicates that the manipulator works as a robotic assistant which can hold a camera to provide abundant information in the surgery.

The continually evolving field of surgery

2018 ◽  
Vol 183 (17) ◽  
pp. 546.2-546
Keyword(s):  
Minimally Invasive Surgery ◽  
Soft Tissue ◽  
Regenerative Medicine ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Orthopaedic Surgery ◽  
Small Animal ◽  
Imaging Modalities ◽  
Animal Surgery

BVA members can claim an exclusive discount on the latest edition of Small Animal Surgery by Theresa Welch Fossum. Described as ‘the go-to, full-colour guide for everything that general veterinarians and vet students need to know about both soft tissue and orthopaedic surgery’, the new 5th edition discusses the latest advances in key areas such as imaging modalities, regenerative medicine, minimally invasive surgery and neurology

Renal Cooling Device for Use in Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Edward Summers ◽  
Thomas Cervantes ◽  
Rachel Batzer ◽  
Christie Simpson ◽  
Raymond Lewis ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
The Body ◽  
Surgical Removal ◽  
Ice Slurry ◽  
Cooling Device ◽  
Renal Surgery ◽  
Open Renal Surgery ◽  
The U.S

Over 58,000 patients suffer from renal cell carcinoma annually in the U.S. Treatment for this cancer often requires surgical removal of the cancerous tissue in a partial nephrectomy procedure. In open renal surgery, the kidney is placed on ice to increase allowable ischemia time; however, there is no widely accepted method for reducing kidney temperature during minimally invasive surgery. A device has been designed, prototyped, and evaluated to perform effective renal cooling during minimally invasive kidney surgery to reduce damage due to extended ischemia. The device is a fluid-containing bag with foldable cooling surfaces that wrap around the organ. It is deployed through a 15 mm trocar, wrapped around the kidney, and secured using bulldog clamps. The device then fills with an ice slurry and remains on the kidney for up to 20 min. The ice slurry is then removed from the device and the device is retracted from the body. Modeling results and tests of the prototype in a simulated lab environment show that the device successfully cools porcine kidneys from 37°C to 20°C in 6–20 min.

A Sensorized Instrument for Skills Assessment and Training in Minimally Invasive Surgery

2009 ◽  
Vol 3 (4) ◽  
Author(s):  
A. L. Trejos ◽  
R. V. Patel ◽  
M. D. Naish ◽  
A. C. Lyle ◽  
C. M. Schlachta
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Tracking System ◽  
The Body ◽  
Skills Assessment ◽  
Training Methods ◽  
Laparoscopic Instrument ◽  
Rms Error ◽  
And Training

Minimally invasive surgery (MIS) is carried out using long, narrow instruments and significantly reduces trauma to the body, postoperative pain, and recovery time. Unfortunately, the restricted access conditions, limited instrument motion, and degraded sense of touch inherent in MIS result in new perceptual-motor relationships, which are unfamiliar to the surgeon and require training to overcome. Current training methods do not adequately address the needs of surgeons interested in acquiring these skills. Although a significant amount of research has been focused on the development of sensorized systems for surgery, there is still a need for a system that can be used in any training scenario (laparoscopic trainer, animal laboratories, or real surgery) for the purpose of skills assessment and training. A sensorized laparoscopic instrument has been designed that is capable of noninvasively measuring its interaction with tissue in the form of forces or torques acting in all five degrees-of-freedom (DOFs) available during MIS. Strain gauges attached to concentric shafts within the instrument allow the forces acting in different directions to be isolated. An electromagnetic tracking system is used for position tracking. Two prototypes of the sensorized instrument were constructed. Position calibration shows a maximum root mean square (RMS) error of 1.3 mm. The results of the force calibration show a maximum RMS error of 0.35 N for the actuation force, 0.07 N in the x and y directions, and 1.5 N mm for the torque calibration with good repeatability and low hysteresis. Axial measurements were significantly affected by drift, noise, and coupling leading to high errors in the readings. Novel sensorized instruments for skills assessment and training have been developed and a patent has been filed for the design and operation. The instruments measure forces and torques acting at the tip of the instrument corresponding to all five DOFs available during MIS and provide position feedback in six DOFs. The instruments are similar in shape, size, and weight to traditional laparoscopic instruments allowing them to be used in any training environment. Furthermore, replaceable tips and handles allow the instruments to be used for a variety of different tasks.

Oral surgery

2014 ◽  
pp. 351-406
Author(s):  
David A. Mitchell ◽  
Laura Mitchell ◽  
Lorna McCaul
Keyword(s):  
Minimally Invasive Surgery ◽  
Soft Tissue ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Oral Surgery ◽  
Maxillary Antrum ◽  
Third Molar ◽  
Preprosthetic Surgery ◽  
Benign Tumours ◽  
Unerupted Teeth

Contents. Principles of surgery of the mouth. Asepsis and antisepsis. Forceps, elevators, and other instruments. The extraction of teeth. Complications of extracting teeth. Post-operative bleeding. Suturing. Dento-alveolar surgery: bisphosphonates. Dento-alveolar surgery: removal of roots. Dento-alveolar surgery: removal of unerupted teeth. Dento-alveolar surgery: removal of third molars. Dento-alveolar surgery: coronectomy. Dento-alveolar surgery: third-molar technique. Dento-alveolar surgery: apicectomy. Dento-alveolar surgery: other aids to endodontics. Dento-alveolar surgery: helping the orthodontist. Dento-facial infections. Biopsy. Cryosurgery. Non-tumour soft-tissue lumps in the mouth. Non-tumour hard-tissue lumps. Cysts of the jaws. Benign tumours of the mouth. The maxillary antrum. Minor preprosthetic surgery. Implantology. Lasers. Minimally invasive surgery.

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