Autonomous Ultrasound-Guided Tissue Dissection

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Title: Autonomous Ultrasound-Guided Tissue Dissection
Authors: Pratt, P
Hughes-Hallett, A
Zhang, L
Patel, N
Mayer, E
Darzi, A
Yang, G-Z
Item Type: Conference Paper
Abstract: Intraoperative ultrasound imaging can act as a valuable guide during minimally invasive tumour resection. However, contemporaneous bimanual manipulation of the transducer and cutting instrument presents significant challenges for the surgeon. Both cannot occupy the same physical location, and so a carefully coordinated relative motion is required. Using robotic partial nephrectomy as an index procedure, and employing PVA cryogel tissue phantoms in a reduced dimensionality setting, this study sets out to achieve autonomous tissue dissection with a high velocity waterjet under ultrasound guidance. The open-source da Vinci Research Kit (DVRK) provides the foundation for a novel multimodal visual servoing approach, based on the simultaneous processing and analysis of endoscopic and ultrasound images. Following an accurate and robust Jacobian estimation procedure, dissections are performed with specified theoretical tumour margin distances. The resulting margins, with a mean difference of 0.77mm, indicate that the overall system performs accurately, and that future generalisation to 3D tumour and organ surface morphologies is warranted.
Editors: Navab, N
Hornegger, J
Wells, WM
Frangi, AF
Issue Date: 18-Nov-2015
Date of Acceptance: 1-Nov-2015
URI: http://hdl.handle.net/10044/1/64039
DOI: https://dx.doi.org/10.1007/978-3-319-24553-9_31
ISBN: 978-3-319-24552-2
ISSN: 0302-9743
Publisher: SPRINGER INT PUBLISHING AG
Start Page: 249
End Page: 257
Journal / Book Title: MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2015, PT I
Volume: 9349
Copyright Statement: © 2015 Springer International Publishing Switzerland. The final publication is available at https://dx.doi.org/10.1007/978-3-319-24553-9_31
Sponsor/Funder: Imperial College Healthcare NHS Trust- BRC Funding
Imperial College Healthcare NHS Trust- BRC Funding
St Mary s Hospital Urological Research and Educational Trust
Funder's Grant Number: RDB04 79560
RD207
N/A
Conference Name: 18th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)
Keywords: Science & Technology
Technology
Life Sciences & Biomedicine
Computer Science, Artificial Intelligence
Computer Science, Interdisciplinary Applications
Computer Science, Theory & Methods
Radiology, Nuclear Medicine & Medical Imaging
Computer Science
RESECTION
ROBOT
08 Information And Computing Sciences
Artificial Intelligence & Image Processing
Publication Status: Published
Start Date: 2015-10-05
Finish Date: 2015-10-09
Conference Place: Munich, GERMANY
Online Publication Date: 2015-11-18
Appears in Collections:Faculty of Engineering
Division of Surgery
Computing
Faculty of Medicine



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