In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a challenging task for the surgeon. Recently, robot-assisted local tissue scanning has been investigated for motion stabilisation of imaging probes to facilitate the capturing of good quality images and reduce the surgeon's cognitive load. Nonetheless, these approaches require the tissue surface to be static or deform with periodic motion. To eliminate these assumptions, we propose a visual servoing framework for autonomous tissue scanning, able to deal with free-form tissue deformation. The 3D structure of the surgical scene is recovered and a feature-based method is proposed to estimate the motion of the tissue in real-time. A desired scanning trajectory is manually defined on a reference frame and continuously updated using projective geometry to follow the tissue motion and control the movement of the robotic arm. The advantage of the proposed method is that it does not require the learning of the tissue motion prior to scanning and can deal with free-form deformation. We deployed this framework on the da Vinci surgical robot using the da Vinci Research Kit (dVRK) for Ultrasound tissue scanning. Since the framework does not rely on information from the Ultrasound data, it can be easily extended to other probe-based imaging modalities.
Imperial College London（伦敦帝国学院）；University of Kent（肯特大学）；Kasetsart University（农业大学）
Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in vivo and in situ cellular-level imaging for real-time assessment of tissue pathology. Endomicroscopy could potentially be used for intraoperative surgical guidance, but it is challenging to assess a surgical site using individual microscopic images due to the limited field-of-view and difficulties associated with manually manipulating the probe. Methods: In this paper, a novel robotic device for large-area endomicroscopy imaging is proposed, demonstrating a rapid, but hig…
The Hamlyn Centre for Robotic Surgery, Imperial College London, UK（帝国理工学院哈姆林机器人外科中心）；Department of Surgery and Cancer, Imperial College London, UK（帝国理工学院外科与癌症系）
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive load. However, current methods mainly consider static scanning environments typically with the probe pressing against the tissue surface. In this work, a motion-compensated autonomous ultrasound scanning system using the da Vinci Research Kit (dVRK) is proposed. An optimal scanning trajectory is generated considering both the tissue surface shape and the ultras…
Imperial College（帝国理工学院）；Hamlyn Centre for Robotic Surgery（哈姆林外科手术机器人中心）；Department of Surgery and Cancer（外科与癌症系）
Brain shift makes the pre-operative MRI navigation highly inaccurate hence the intraoperative modalities are adopted in surgical theatre. Due to the excellent economic and portability merits, the Ultrasound imaging is used at our collaborating hospital, Charing Cross Hospital, Imperial College London, UK. However, it is found that intraoperative diagnosis on Ultrasound images is not straightforward and consistent, even for very experienced clinical experts. Hence, there is a demand to design a Computer-aided-diagnosis system to provide a robust second opinion to help the surgeons. The proposed…
Embedded Flexible Circumferential Sensing for Real-Time Intraoperative Environmental Perception in Continuum Robots
Shenzhen Key Laboratory of Robotics Perception and Intelligence（机器人感知与智能深圳重点实验室）；Southern University of Science and Technology（南方科技大学）；Department of Electronic and Electrical Engineering（电子与电气工程系）；Department of Electrical Engineering（电气工程系）；Institute of Robotics and Intelligent Systems（机器人与智能系统研究院）
Imperial College London（帝国理工学院）；German Aerospace Center（德国航空航天中心）；Technical University of Munich（慕尼黑工业大学）；Charing Cross Hospital（查令十字医院）
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and generate a representation of the robot task space, fast and accurate techniques for the recovery of 3D morphological structures of the surgical cavity are developed. The prototypic DLR MIRO surgical robotic arm is used to control the applied force and the in-plane motion of the US transducer. A key application of the proposed platform is the scanning of bra…
Autonomous Robotic Tissue Palpation and Abnormalities Characterisation via Ergodic Exploration
Department of Information Engineering and Computer Science, University of Trento（信息工程与计算机科学系，特伦托大学）；Department of Industrial Engineering, University of Trento（工业工程系，特伦托大学）
TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Thomas Lord Department of Mechanical Engineering and Materials Science, Duke University（杜克大学机械工程与材料科学系）；Department of Robotics, University of Michigan, Ann Arbor（密歇根大学机器人学系）；Department of Orthopaedic Surgery, School of Medicine, Duke University（杜克大学骨科手术系）；Department of Pathology, School of Medicine, Duke University（杜克大学病理学系）；Department of Ophthalmology and Visual Sciences, University of Michigan Medical School, Ann Arbor（密歇根大学医学学院眼科与视觉科学系）；Department of Neurosurgery, School of Medicine, Duke University（杜克大学神经外科系）
Contact-Adaptive Robotic Ultrasound Probe Control for Tissue Exploration and Continuous Task-Relevant Visualization Using Robot-Free Image-Motion Demonstration
Seoul National University Hospital（首尔大学医院）；Rosota Inc.（Rosota公司）；Seoul National University College of Medicine（首尔大学医学院）；Seoul National University（首尔大学）；Eulji University College of Medicine（乙支大学医学院）
Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance
Technische Universität München（慕尼黑工业大学）；Johns Hopkins University（约翰斯·霍普金斯大学）；Johns Hopkins Hospital（约翰斯·霍普金斯医院）；Klinikum rechts der Isar der Technische Universität München（慕尼黑工业大学右岸医院）
