Preliminary design of an actuated imaging probe for generation of additional visual cues in a robotic surgery

Autor: Amer Alsaied, Shidin Balakrishnan, Abdulla Al-Ansari, W. Jong Yoon, Nikhil V. Navkar, Julien Abinahed, Carlos A. Velasquez
Rok vydání: 2015
Předmět:
0209 industrial biotechnology
medicine.medical_specialty
medicine.medical_treatment
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
02 engineering and technology
Workspace
feedback system
Article
Da Vinci Surgical System
Feedback
03 medical and health sciences
020901 industrial engineering & automation
0302 clinical medicine
Robotic Surgical Procedures
medicine
Humans
Robotic surgery
Computer vision
human
minimally invasive surgery
ComputingMethodologies_COMPUTERGRAPHICS
Computer-assisted surgery
Depth Perception
visual feedback
business.industry
association
Equipment Design
laparoscopic surgical instrument
Surgery
Visualization
learning curve
priority journal
Surgery
Computer-Assisted
computer assisted surgery
030220 oncology & carcinogenesis
surgeon
Robot
Artificial intelligence
business
robotic surgical procedure
devices
Learning Curve
Stereo camera
Zdroj: Surgical Endoscopy. 30:2641-2648
ISSN: 1432-2218
0930-2794
DOI: 10.1007/s00464-015-4270-2
Popis: Background The aim of this study was to enhance the visual feedback of surgeons, during robotic surgeries, by designing and developing an actuated 2D imaging probe, which is used in conjunction with the traditional stereoscopic camera of the da Vinci surgical system. The probe provides the surgeon with additional visual cues, overcoming visualization constraints encountered during certain scenarios of robot-assisted minimally invasive surgery. Methods The actuated imaging probe is implemented as a master–slave tele-manipulated system, and it is designed to be compatible with the da Vinci surgical system. The detachable probe design enables it to be mounted on any of the EndoWrist® instruments of the robot and is controlled by the surgeon using a custom-made pedal system. The image from the 2D probe is rendered along with the stereoscopic view on the surgeon’s console. Results The experimental results demonstrate the effectiveness of the proposed actuated imaging probe when used as an additional visualization channel and in surgical scenarios presenting visual problems due to tissue occlusion. Conclusion The study shows the potential benefits of an additional actuated imaging probe when used in conjunction with traditional surgical instruments to perform surgical tasks requiring visualization from multiple orientations and workspaces. Acknowledgments This work was partially supported by the National Priorities Research Program (NPRP) under Grant NPRP 09-776-2-298 from the Qatar National Research Fund (a member of Qatar Foundation). The statements made herein are solely the responsibility of the authors. We would like to thank Dr. Jean-Marc Peyrat for his assistance in the experiments. Scopus
Databáze: OpenAIRE
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