Comparison of visual tracking algorithms on in vivo sequences for robot-assisted flexible endoscopic surgery

Author(s):  
N. Masson ◽  
F. Nageotte ◽  
P. Zanne ◽  
M. de Mathelin ◽  
J. Marescaux
Author(s):  
A. C. Lehman ◽  
N. A. Wood ◽  
J. Dumpert ◽  
D. Oleynikov ◽  
S. M. Farritor

Natural Orifice Translumenal Endoscopic Surgery (NOTES) promises to reduce the invasiveness of surgical procedures by accessing the peritoneal cavity through a natural orifice. Current tools for performing NOTES are based on the flexible endoscopy platform, and are significantly limited in imaging and manipulation by the size and geometry of the natural lumen. For NOTES to revolutionize minimally invasive surgery, new approaches are necessary that enable the surgeon to perform procedures with vision and dexterity equivalent to laparoscopic procedures. An image-guided, two-armed, dexterous miniature NOTES robot has been developed that can be placed into the peritoneal cavity through a transgastric incision. Using this robot, the surgeon has effectively demonstrated tissue dissection in non-survivable animal model procedures. A next step in the development of miniature in vivo robots is the automation of routinely performed, low level surgical tasks. This paper details work towards autonomous tissue dissection using the NOTES robot. As a first step, visual tracking and robot control methods are being developed.


Neurosurgery ◽  
2012 ◽  
Vol 72 (3) ◽  
pp. 353-366 ◽  
Author(s):  
Francesco Cardinale ◽  
Massimo Cossu ◽  
Laura Castana ◽  
Giuseppe Casaceli ◽  
Marco Paolo Schiariti ◽  
...  

Abstract BACKGROUND: Stereoelectroencephalography (SEEG) methodology, originally developed by Talairach and Bancaud, is progressively gaining popularity for the presurgical invasive evaluation of drug-resistant epilepsies. OBJECTIVE: To describe recent SEEG methodological implementations carried out in our center, to evaluate safety, and to analyze in vivo application accuracy in a consecutive series of 500 procedures with a total of 6496 implanted electrodes. METHODS: Four hundred nineteen procedures were performed with the traditional 2-step surgical workflow, which was modified for the subsequent 81 procedures. The new workflow entailed acquisition of brain 3-dimensional angiography and magnetic resonance imaging in frameless and markerless conditions, advanced multimodal planning, and robot-assisted implantation. Quantitative analysis for in vivo entry point and target point localization error was performed on a sub-data set of 118 procedures (1567 electrodes). RESULTS: The methodology allowed successful implantation in all cases. Major complication rate was 12 of 500 (2.4%), including 1 death for indirect morbidity. Median entry point localization error was 1.43 mm (interquartile range, 0.91-2.21 mm) with the traditional workflow and 0.78 mm (interquartile range, 0.49-1.08 mm) with the new one (P < 2.2 × 10−16). Median target point localization errors were 2.69 mm (interquartile range, 1.89-3.67 mm) and 1.77 mm (interquartile range, 1.25-2.51 mm; P < 2.2 × 10−16), respectively. CONCLUSION: SEEG is a safe and accurate procedure for the invasive assessment of the epileptogenic zone. Traditional Talairach methodology, implemented by multimodal planning and robot-assisted surgery, allows direct electrical recording from superficial and deep-seated brain structures, providing essential information in the most complex cases of drug-resistant epilepsy.


1993 ◽  
Vol 6 (4) ◽  
pp. 329-337 ◽  
Author(s):  
George E. Kopchok ◽  
Douglas M. Cavaye ◽  
Stanley R. Klein ◽  
Mark P. Mueller ◽  
Jeffrey L. Lee ◽  
...  

2019 ◽  
Vol 45 (1) ◽  
pp. 218-232 ◽  
Author(s):  
Robert M. Pohlman ◽  
Tomy Varghese ◽  
Jingfeng Jiang ◽  
Timothy J. Ziemlewicz ◽  
Marci L. Alexander ◽  
...  

2014 ◽  
Vol 13 (1) ◽  
pp. 167 ◽  
Author(s):  
Evgenij Bobrowitsch ◽  
Andrea Lorenz ◽  
Nikolaus Wülker ◽  
Christian Walter

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