A Novel Robotic Assistant for Reducing Hand-Held Surgical Tool Tremor in Surgical Navigation

2009 ◽  
Author(s):  
Wenqiang Zhang ◽  
Yan Pan
Keyword(s):  
Surgical Navigation ◽  
Surgical Tool ◽  
Robotic Assistant

scholarly journals Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4575 ◽  
Author(s):  
Michel de Mathelin ◽  
Florent Nageotte ◽  
Philippe Zanne ◽  
Birgitta Dresp-Langley
Keyword(s):  
Degrees Of Freedom ◽  
Grip Force ◽  
Robotic System ◽  
Surgical Tool ◽  
Small Force ◽  
Single User ◽  
Robotic Assistant ◽  
Near Future ◽  
Force Profiles ◽  
Flexible Instruments

STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system based on the Anubis® platform of Karl Storz for application to intra-luminal surgical procedures. Pre-clinical testing of STRAS has recently permitted to demonstrate major advantages of the system in comparison with classic procedures. Benchmark methods permitting to establish objective criteria for ‘expertise’ need to be worked out now to effectively train surgeons on this new system in the near future. STRAS consists of three cable-driven sub-systems, one endoscope serving as guide, and two flexible instruments. The flexible instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this study, small force sensors sewn into a wearable glove to ergonomically fit the master handles of the robotic system were employed for monitoring the forces applied by an expert and a trainee (complete novice) during all the steps of surgical task execution in a simulator task (4-step-pick-and-drop). Analysis of grip-force profiles is performed sensor by sensor to bring to the fore specific differences in handgrip force profiles in specific sensor locations on anatomically relevant parts of the fingers and hand controlling the master/slave system.

scholarly journals Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements

2019 ◽  
Author(s):  
Michel de Mathelin ◽  
Florent Nageotte ◽  
Philippe Zanne ◽  
Birgitta Dresp-Langley
Keyword(s):  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
Task Execution ◽  
Novice User ◽  
Driven Systems ◽  
User Expertise ◽  
Surgical Tool ◽  
Single User ◽  
Robotic Assistant ◽  
Force Profiles

STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a flexible robotic system based on the Anubis® platform of Karl Storz for application to intra-luminal surgical procedures. It consists of three cable-driven systems, one endoscope serving as guide and two inserted instruments. The flexible and bendable instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this research, a pair of specific sensor gloves, which ergonomically fit to the master handles of the system was designed and the forces applied by one expert and one novice user during system-specific task execution in a simulator task (4-step-pick-and-drop) were compared. The results show that user expertise is not only reflected by shorter task execution times but also, more importantly, by specific differences in handgrip force profiles for specific sensor locations on anatomically relevant parts of the fingers and hand controlling the surgical instruments of the robotic master/slave system.

Automatic Surgical Workflow Estimation Method for Brain Tumor Resection Using Surgical Navigation Information

2012 ◽  
Vol 24 (5) ◽  
pp. 791-801 ◽  
Author(s):  
Ryoichi Nakamura ◽  
◽  
Tomoaki Aizawa ◽  
Yoshihiro Muragaki ◽  
Takashi Maruyama ◽  
...  
Keyword(s):  
Brain Tumor ◽  
Navigation System ◽  
Surgical Navigation ◽  
Process Analysis ◽  
Tumor Resection ◽  
Estimation Method ◽  
Tumor Removal ◽  
Surgical Navigation System ◽  
Automatic Estimation ◽  
Surgical Tool

It has been acknowledged as a problem in recent years that surgery has become complex due to medical system updating. To respond to the increasing demand for making surgery more optimal and efficient, studies on surgical process analysis have attracted attention. Automatic estimation technology is necessary for accurate and efficient process analysis. With a focus on this problem, we have studied technologies on the automatic estimation of surgical processes. In this study, we develop an automatic estimationmethod for a chosen surgical process on the basis of information obtained from a surgical navigation system, taking as an example image-guided brain tumor surgery. We found a significant correlation among five parameters – progress in enucleation, depth of surgical tool tip, displacement of surgical tool, volume of surgical tool position log data, and number of events detected during surgery – that are defined according to the anatomical information on patients and surgical procedure information on surgeons stored in the navigation system, and three stages in the brain tumor removal process: (1) incision of the surface cortex, (2) testing and blood vessel resection, (3) resection and removal of tumors. By using automatic Bayesian estimation of tumor removal processes in eight case examples using the five parameters, we estimated 73% of all processes correctly. This result indicates that surgical processes are automatically estimated with information in the surgical navigation system alone, which thus contributes to the accurate and efficient surgery analysis.

scholarly journals Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders

2019 ◽  
Vol 15 (2) ◽  
pp. 369-377
Author(s):  
Roeland Eppenga ◽  
Koert Kuhlmann ◽  
Theo Ruers ◽  
Jasper Nijkamp
Keyword(s):  
Degrees Of Freedom ◽  
Surgical Navigation ◽  
Tracking System ◽  
Optical Tracking ◽  
Navigation Systems ◽  
Optical Tracking System ◽  
Worst Case ◽  
Tumor Tracking ◽  
Surgical Tool ◽  
Vector Information

Abstract Purpose Surgical navigation systems are generally only applied for targets in rigid areas. For non-rigid areas, real-time tumor tracking can be included to compensate for anatomical changes. The only clinically cleared system using a wireless electromagnetic tracking technique is the Calypso® System (Varian Medical Systems Inc., USA), designed for radiotherapy. It is limited to tracking maximally three wireless 5-degrees-of-freedom (DOF) transponders, all used for tumor tracking. For surgical navigation, a surgical tool has to be tracked as well. In this study, we evaluated whether accurate 6DOF tumor tracking is possible using only two 5DOF transponders, leaving one transponder to track a tool. Methods Two methods were defined to derive 6DOF information out of two 5DOF transponders. The first method uses the vector information of both transponders (TTV), and the second method combines the vector information of one transponder with the distance vector between the transponders (OTV). The accuracy of tracking a rotating object was assessed for each method mimicking clinically relevant and worst-case configurations. Accuracy was compared to using all three transponders to derive 6DOF (Default method). An optical tracking system was used as a reference for accuracy. Results The TTV method performed best and was as accurate as the Default method for almost all transponder configurations (median errors < 0.5°, 95% confidence interval < 3°). Only when the angle between the transponders was less than 2°, the TTV method was inaccurate and the OTV method may be preferred. The accuracy of both methods was independent of the angle of rotation, and only the OTV method was sensitive to the plane of rotation. Conclusion These results indicate that accurate 6DOF tumor tracking is possible using only two 5DOF transponders. This encourages further development of a wireless EM surgical navigation approach using a readily available clinical system.

scholarly journals Surgical Navigation System for Transsphenoidal Pituitary Surgery Applying U-Net-Based Automatic Segmentation and Bendable Devices

2019 ◽  
Vol 9 (24) ◽  
pp. 5540
Author(s):  
Hwa-Seob Song ◽  
Hyun-Soo Yoon ◽  
Seongpung Lee ◽  
Chang-Ki Hong ◽  
Byung-Ju Yi
Keyword(s):  
Navigation System ◽  
Surgical Navigation ◽  
Automatic Segmentation ◽  
Pituitary Surgery ◽  
Organ Damage ◽  
Navigation Systems ◽  
Surgical Tools ◽  
Registration Errors ◽  
Surgical Tool ◽  
Transsphenoidal Pituitary Surgery

Conventional navigation systems used in transsphenoidal pituitary surgery have limitations that may lead to organ damage, including long image registration time, absence of alarms when approaching vital organs and lack of 3-D model information. To resolve the problems of conventional navigation systems, this study proposes a U-Net-based, automatic segmentation algorithm for optical nerves and internal carotid arteries, by training patient computed tomography angiography images. The authors have also developed a bendable endoscope and surgical tool to eliminate blind regions that occur when using straight, rigid, conventional endoscopes and surgical tools during transsphenoidal pituitary surgery. In this study, the effectiveness of a U-Net-based navigation system integrated with bendable surgical tools and a bendable endoscope has been demonstrated through phantom-based experiments. In order to measure the U-net performance, the Jaccard similarity, recall and precision were calculated. In addition, the fiducial and target registration errors of the navigation system and the accuracy of the alarm warning functions were measured in the phantom-based environment.

Fuzzy Controller for Positioning Tasks in Tactile Surgical Navigation

2011 ◽  
Vol 403-408 ◽  
pp. 4794-4799
Author(s):  
Stanley A. Mungwe ◽  
Andreas Hein
Keyword(s):  
Navigation System ◽  
Fuzzy Controller ◽  
Surgical Navigation ◽  
System Model ◽  
Feedback Information ◽  
Positioning Control ◽  
Surgical Navigation System ◽  
Surgical Tool ◽  
Analytical System

This paper presents a fuzzy controller for positioning control with a newly developed surgical navigation system which uses tactile signals as feedback to the operator. The advantage of using tactile vibrations to transmit feedback information about the position of the surgical tool relative to particular tissues is the reduction of the contant gaze of the operator from the field of operation to a remote screen. The Fuzzy controller was derived without any analytical system model and its efficiency was compared to that of an already developed classical controller.

scholarly journals Mixed reality as a novel tool for diagnostic and surgical navigation in orthopaedics

2021 ◽  
Vol 16 (3) ◽  
pp. 407-414 ◽  
Author(s):  
Andrea Teatini ◽  
Rahul P. Kumar ◽  
Ole Jakob Elle ◽  
Ola Wiig
Keyword(s):  
Mixed Reality ◽  
Surgical Navigation ◽  
Age Groups ◽  
Qualitative Assessment ◽  
Surgical Instrument ◽  
Orthopaedic Surgeons ◽  
Head Mounted Display ◽  
Navigation Tool ◽  
Surgical Tool ◽  
Instrument Tracking

Abstract Purpose This study presents a novel surgical navigation tool developed in mixed reality environment for orthopaedic surgery. Joint and skeletal deformities affect all age groups and greatly reduce the range of motion of the joints. These deformities are notoriously difficult to diagnose and to correct through surgery. Method We have developed a surgical tool which integrates surgical instrument tracking and augmented reality through a head mounted display. This allows the surgeon to visualise bones with the illusion of possessing “X-ray” vision. The studies presented below aim to assess the accuracy of the surgical navigation tool in tracking a location at the tip of the surgical instrument in holographic space. Results Results show that the average accuracy provided by the navigation tool is around 8 mm, and qualitative assessment by the orthopaedic surgeons provided positive feedback in terms of the capabilities for diagnostic use. Conclusions More improvements are necessary for the navigation tool to be accurate enough for surgical applications, however, this new tool has the potential to improve diagnostic accuracy and allow for safer and more precise surgeries, as well as provide for better learning conditions for orthopaedic surgeons in training.

Image-Guided Spinal Surgery and Robotics in MIS: Where Are We Now?

2018 ◽  
Vol 1 (2) ◽  
pp. 2
Author(s):  
Chiung Chyi Shen
Keyword(s):  
Pedicle Screw ◽  
Spinal Surgery ◽  
Surgical Navigation ◽  
Improve Patient Safety ◽  
Intraoperative Imaging ◽  
Spinal Instrumentation ◽  
Pedicle Screws ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Image Guided

Use of pedicle screws is widespread in spinal surgery for degenerative, traumatic, and oncological diseases. The conventional technique is based on the recognition of anatomic landmarks, preparation and palpation of cortices of the pedicle under control of an intraoperative C-arm (iC-arm) fluoroscopy. With these conventional methods, the median pedicle screw accuracy ranges from 86.7% to 93.8%, even if perforation rates range from 21.1% to 39.8%.The development of novel intraoperative navigational techniques, commonly referred to as image-guided surgery (IGS), provide simultaneous and multiplanar views of spinal anatomy. IGS technology can increase the accuracy of spinal instrumentation procedures and improve patient safety. These systems, such as fluoroscopy-based image guidance ("virtual fluoroscopy") and computed tomography (CT)-based computer-guidance systems, have sensibly minimized risk of pedicle screw misplacement, with overall perforation rates ranging from between 14.3% and 9.3%, respectively."Virtual fluoroscopy" allows simultaneous two-dimensional (2D) guidance in multiple planes, but does not provide any axial images; quality of images is directly dependent on the resolution of the acquired fluoroscopic projections. Furthermore, computer-assisted surgical navigation systems decrease the reliance on intraoperative imaging, thus reducing the use of intraprocedure ionizing radiation. The major limitation of this technique is related to the variation of the position of the patient from the preoperative CT scan, usually obtained before surgery in a supine position, and the operative position (prone). The next technological evolution is the use of an intraoperative CT (iCT) scan, which would allow us to solve the position-dependent changes, granting a higher accuracy in the navigation system. 

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