A Flat-Panel Ultrasound Robot to Align an Abdominal Ultrasound Probe During Laparoscopic Partial Nephrectomy

2012 ◽  
Author(s):  
Jan D. J. Gumprecht ◽  
Florian B. Geiger ◽  
Tim C. Lueth ◽  
Jens-Uwe Stolzenburg
Keyword(s):  
Minimally Invasive ◽  
Degrees Of Freedom ◽  
Intraoperative Imaging ◽  
Abdominal Ultrasound ◽  
Kidney Tumor ◽  
Ultrasound Probe ◽  
Flat Panel ◽  
Operating Field ◽  
Operating Room Table ◽  
Laparoscopic Removal

There were over 28.000 kidney tumor incidences in Germany in 2010. Minimally invasive (laparoscopic) removal of these tumors has become more and more popular. Intraoperative imaging during these procedures is mainly performed with videolaparoscopes. However, they provide only superficial images of the operating field increasing the challenge to remove the tumor. Conventional sonographic approaches may overcome this problem but require an additional assistant to guide the probe. To eliminate the need for an additional assistant, we developed a new robot with four degrees of freedom to motorize a sonographic probe. The robot can be installed in the operating room table and is directly controlled by the surgeon with telemanipulation. In experiments we showed that the accuracy of the kinematic is above the resolution of the sonographic probe.

scholarly journals Development and assessment of a telesonography system for musculoskeletal imaging

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Mohammed Obaid ◽  
Qianwei Zhang ◽  
Scott J. Adams ◽  
Reza Fotouhi ◽  
Haron Obaid
Keyword(s):  
Degrees Of Freedom ◽  
Ultrasound Images ◽  
Ultrasound Probe ◽  
Rural And Remote ◽  
Significant Delay ◽  
Remote Communities ◽  
Internet Connection ◽  
Good For ◽  
4 Degrees Of Freedom

Abstract Background Telesonography systems have been developed to overcome barriers to accessing diagnostic ultrasound for patients in rural and remote communities. However, most previous telesonography systems have been designed for performing only abdominal and obstetrical exams. In this paper, we describe the development and assessment of a musculoskeletal (MSK) telesonography system. Methods We developed a 4-degrees-of-freedom (DOF) robot to manipulate an ultrasound probe. The robot was remotely controlled by a radiologist operating a joystick at the master site. The telesonography system was used to scan participants’ forearms, and all participants were conventionally scanned for comparison. Participants and radiologists were surveyed regarding their experience. Images from both scanning methods were independently assessed by an MSK radiologist. Results All ten ultrasound exams were successfully performed using our developed MSK telesonography system, with no significant delay in movement. The duration (mean ± standard deviation) of telerobotic and conventional exams was 4.6 ± 0.9 and 1.4 ± 0.5 min, respectively (p = 0.039). An MSK radiologist rated quality of real-time ultrasound images transmitted over an internet connection as “very good” for all telesonography exams, and participants rated communication with the radiologist as “very good” or “good” for all exams. Visualisation of anatomic structures was similar between telerobotic and conventional methods, with no statistically significant differences. Conclusions The MSK telesonography system developed in this study is feasible for performing soft tissue ultrasound exams. The advancement of this system may allow MSK ultrasound exams to be performed over long distances, increasing access to ultrasound for patients in rural and remote communities.

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

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

scholarly journals How to iGuide: flat panel detector, CT-assisted, minimally invasive evacuation of intracranial hematomas

2021 ◽  
pp. neurintsurg-2021-017903
Author(s):  
David Dornbos III ◽  
Cathra Halabi ◽  
Julie DiNitto ◽  
Kerstin Mueller ◽  
David Fiorella ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Needle Guidance ◽  
Flat Panel ◽  
Neurologic Recovery ◽  
Flat Panel Detector ◽  
Minimally Invasive Surgical ◽  
Intracranial Hematomas ◽  
Navigation Accuracy ◽  
High Degree ◽  
Minimally Invasive Methods

Evidence is growing to support minimally invasive surgical evacuation of intraparenchymal hematomas, particularly those with minimal residual hematoma volumes following evacuation. To maximize the potential for neurologic recovery, it is imperative that the trajectory for access to the hematoma minimizes disruption of normal parenchyma. Flat panel detector CT-based navigation and needle guidance software provides a platform that uses flat panel detector CT imaging obtained on the angiography table to aid reliable and safe access to the hematoma. In addition to providing a high degree of accuracy, this method also allows convenient and rapid re-imaging to assess navigation accuracy and the degree of hematoma evacuation prior to procedural completion. We provide a practical review of the syngo iGuide needle guidance software and the methodology for incorporating its use, and the software of other vendors, in a variety of minimally invasive methods for evacuation of intraparenchymal hematomas.

Abstract 2055: A Fingertip-Mounted Ultrasound Probe for Open-Chest Echocardiographic Imaging During Heart Surgery: Pilot Studies with a New Scanning Method

Circulation ◽  
2007 ◽  
Vol 116 (suppl_16) ◽  
Author(s):  
Ling Hui ◽  
Ronald W Schutz ◽  
Scott Corbett ◽  
Evan Dudik ◽  
Shelly Kinnune ◽  
...  
Keyword(s):  
Left Ventricle ◽  
Left Atrium ◽  
Heart Surgery ◽  
Intraoperative Imaging ◽  
Imaging Study ◽  
Ultrasound Probe ◽  
Pilot Studies ◽  
Scanning Method ◽  
Open Chest ◽  
Array Ultrasound

Background: We report a newly developed fingertip-mounted ultrasound probe (SonicEye®), which has been applied to an open-chest intraoperative imaging study. This probe is small, flexible, and quickly detachable. Its intuitive positioning makes it easy to acquire images in standard as well as unique views including views from the diaphragmatic surface of the left ventricle and behind the left atrium with a “heads up” that can be easily viewed by the surgeon while looking at the heart and the probe. Methods: In an open-chest study of two 12–14 kg piglets, the finger-mounted (11 mm radius, 4 – 6 MHz) and a conventional phased array ultrasound probe (Siemens 7V3C, 4 – 6 MHz) were used for scanning on a Siemens Cypress system. Images were recorded and analyzed for quality of image offline. Results: The fingertip-mounted ultrasound probe had the same performance as the conventional ultrasound probe as regards to image quality and Doppler performance. Furthermore, the probe could provide unique views from behind the left atrium and/or under the diaphragmatic surface of the left ventricle that even TEE does not match. Conclusions: The fingertip-mounted probe was able to capture high quality images during our study. This probe is easy to wear and provides high resolution unique images which should be useful for intraoperative evaluation of cardiac repairs.

FlexDex™: A Minimally Invasive Surgical Tool With Enhanced Dexterity and Intuitive Control

2010 ◽  
Vol 4 (3) ◽  
Author(s):  
Shorya Awtar ◽  
Tristan T. Trutna ◽  
Jens M. Nielsen ◽  
Rosa Abani ◽  
James Geiger
Keyword(s):  
Minimally Invasive ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Technology Development ◽  
Low Cost ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Design Paradigm ◽  
Rotational Degrees Of Freedom

This paper presents a new minimally invasive surgical (MIS) tool design paradigm that enables enhanced dexterity, intuitive control, and natural force feedback in a low-cost compact package. The paradigm is based on creating a tool frame that is attached to the surgeon’s forearm, making the tool shaft an extension of the latter. Two additional wristlike rotational degrees of freedom (DoF) provided at an end-effector that is located at the end of the tool shaft are manually actuated via a novel parallel-kinematic virtual center mechanism at the tool input. The virtual center mechanism, made possible by the forearm-attached tool frame, creates a virtual two-DoF input joint that is coincident with the surgeon’s wrist, allowing the surgeon to rotate his/her hand with respect to his/her forearm freely and naturally. A cable transmission associated with the virtual center mechanism captures the surgeon’s wrist rotations and transmits them to the two corresponding end-effector rotations. This physical configuration allows an intuitive and ergonomic one-to-one mapping of the surgeon’s forearm and hand motions at the tool input to the end-effector motions at the tool output inside the patient’s body. Moreover, a purely mechanical construction ensures low-cost, simple design, and natural force feedback. A functional decomposition of the proposed physical configuration is carried out to identify and design key modules in the system—virtual center mechanism, tool handle and grasping actuation, end-effector and output joint, transmission system, tool frame and shaft, and forearm brace. Development and integration of these modules leads to a proof-of-concept prototype of the new MIS tool, referred to as FlexDex™, which is then tested by a focused end-user group to evaluate its performance and obtain feedback for the next stage of technology development.

scholarly journals A Simple Technique for Interventional Tool Placement Combining Fluoroscopy With Interventional Computed Tomography on a C-Arm System

2010 ◽  
Vol 67 (3) ◽  
pp. ons49-ons57 ◽  
Author(s):  
Brian E. Nett ◽  
Beverly Aagaard-Kienitz ◽  
Yurdal Serarslan ◽  
Mustafa K. Başkaya ◽  
Guang-Hong Chen
Keyword(s):  
Computed Tomography ◽  
Intraoperative Imaging ◽  
Cone Beam ◽  
Preoperative Imaging ◽  
Clinical Feature ◽  
Flat Panel ◽  
Guided Surgery ◽  
Surgical Tool ◽  
Contrast Enhanced ◽  
Needle Trajectory

Abstract BACKGROUND: Flat-panel cone-beam computed tomography (FP-CBCT) has recently been introduced as a clinical feature in neuroangiography radiographic C-arm systems. OBJECTIVE: To introduce a method of positioning a surgical tool such as a needle or ablation probe within a target specified by intraoperative FP-CBCT scanning. METHODS: Two human cadaver and 2 porcine cadaver heads were injected with a mixture of silicone and contrast agent to simulate a contrast-enhanced tumor. Preoperative imaging was performed using a standard 1.5-T magnetic resonance imaging scanner. Intraoperative imaging was used to define the needle trajectory on a GE Innova 4100 flat panel-based neuroangiography C-arm system. RESULTS: Using a combination of FP-CBCT and fluoroscopy, a needle was successfully positioned within each of the simulated contrast-enhanced tumors, as verified by subsequent FP-CBCT scans. CONCLUSIONS: This proof-of-concept study demonstrates the potential utility of combining FP-CBCT scanning with fluoroscopy to position surgical tools when stereotactic devices and image-guided surgery systems are not available. However, further work is required to fully characterize the precision and accuracy of the method in a variety of realistic surgical sites.

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