During brain tumour resection, localising cancerous tissue and delineating healthy and pathological borders is challenging, even for experienced neurosurgeons and neuroradiologists. Intraoperative imaging is commonly employed for determining and updating surgical plans in the operating room. Ultrasound (US) has presented itself a suitable tool for this task, owing to its ease of integration into the operating room and surgical procedure. However, widespread establishment of this tool has been limited because of the difficulty of anatomy localisation and data interpretation. In this work, we present a robotic framework designed and tested on a soft-tissue-mimicking brain phantom, simulating intraoperative US (iUS) scanning during brain tumour surgery.
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…
Rochester Institute of Technology（罗切斯特理工学院）；University of Washington（华盛顿大学）；Seattle Children’s Hospital（西雅图儿童医院）
Abstract. Purpose: This paper presents a scheme for generating virtual intraoperative CT scans in order to improve surgical completeness in Endoscopic Sinus Surgeries (ESS). Approach: The work presents three methods, the tip motion-based, the tip trajectory-based, and the instrument based, along with non-parametric smoothing and Gaussian Process Regression, for virtual intraoperative CT generation. Results: The proposed methods studied and compared on ESS performed on cadavers. Surgical results show all three methods improve the Dice Similarity Coefficients > 86%, with F-score > 92% and precis…
University College London（伦敦大学学院）；Welcome/EPSRC Centre for Interventional and Surgical Sciences（惠康/工程与物理科学研究委员会介入与外科科学中心）
In robotic-assisted partial nephrectomy, surgeons remove a part of a kidney often due to the presence of a mass. A drop-in ultrasound probe paired to a surgical robot is deployed to execute multiple swipes over the kidney surface to localise the mass and define the margins of resection. This sub-task is challenging and must be performed by a highly skilled surgeon. Automating this sub-task may reduce cognitive load for the surgeon and improve patient outcomes. The overall goal of this work is to autonomously move the ultrasound probe on the surface of the kidney taking advantage of the use of …
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）
SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound
Balgrist University Hospital（巴尔格里斯大学医院）；ETH Zurich（苏黎世联邦理工学院）；University of Toronto（多伦多大学）；NVIDIA（NVIDIA公司）；ETH AI Center（苏黎世联邦理工学院人工智能中心）；University of Zurich（苏黎世大学）
Chair for Computer-Aided Medical Procedures and Augmented Reality, Technical University of Munich（计算机辅助医学程序与增强现实 chair，慕尼黑技术大学）；Munich Center for Machine Learning（慕尼黑机器学习中心）；The University of Hong Kong（香港大学）
An innovative mixed reality approach for Robotics Surgery
Technical University of Cluj-Napoca（克卢日-纳波卡技术大学）；Nantes Université（南特大学）；École Centrale Nantes（南特中央理工学院）；CNRS（法国国家科学研究中心）；LS2N（南特数字科学实验室）；Technical Sciences Academy of Romania（罗马尼亚技术科学院）
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 assumpt…
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…
Grenoble University Hospital（格勒诺布尔大学医院）；TIMC-GMCAO Lab (CNRS UMR 5525)（TIMC-GMCAO实验室（CNRS UMR 5525））
Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion intraoperatively allows it to manage motions and guide needles to predefined targets. Materials and Methods: A robotic system was created for transrectal ultrasound guided needle implantation combined with intraoperative prostate tracking. Experiments were done on 90 targets embedded in a total of 9 mobile, deformable, synthetic prostate phantoms. Experiments involve…
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）
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…
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）
The Hamlyn Centre for Robotic Surgery, IGHI, Imperial College London（伦敦帝国理工学院哈姆林机器人手术中心）；Dyson Robotics Laboratory, Imperial College London（伦敦帝国理工学院戴森机器人实验室）；OpenAI；Department of Surgery and Cancer, Imperial College London（伦敦帝国理工学院外科与癌症系）
Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform, which allows preoperative information to be incorporated into live procedures using Augmented Reality (AR). Scene depth estimation is a prerequisite for AR, as accurate registration requires 3D correspondences between preoperative and intraoperative organ models. In the past decade, there has been much progress on depth estimation for surgical scenes, such as …
Intuitive Surgical Inc.（直觉外科公司）；California Institute of Technology（加州理工学院）
This paper presents a technique to concurrently and jointly predict the future trajectories of surgical instruments and the future state(s) of surgical subtasks in robot-assisted surgeries (RAS) using multiple input sources. Such predictions are a necessary first step towards shared control and supervised autonomy of surgical subtasks. Minute-long surgical subtasks, such as suturing or ultrasound scanning, often have distinguishable tool kinematics and visual features, and can be described as a series of fine-grained states with transition schematics. We propose daVinciNet - an end-to-end dual…
Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been proposed to measure the target anatomy in a markerless and effortless way, but the existing methods fail under real-world occlusion caused by intraoperative interventions. Furthermore, such methods are hardware-specific and not accurate enough for surgical applications. In this paper, we propose a RGB-D sensing-based markerless tracking method that is robust a…
CataractSAM-2: A Domain-Adapted Model for Anterior Segment Surgery Segmentation and Scalable Ground-Truth Annotation
Thomas Jefferson High School for Science and Technology（托马斯·杰弗逊高中科学与技术学校）；Mass Eye and Ear, Harvard Medical School（麻省眼耳研究所，哈佛医学院）；Harvard Ophthalmology AI Lab, Schepens Eye Research Institute of Mass Eye and Ear, Harvard Medical School（哈佛眼科学人工智能实验室，麻省眼耳研究所的谢普恩斯眼研究学院，哈佛医学院）
Scene Graph-Driven Haptic Feedback for Safety Enhancement in Robotic Ophthalmic Surgery via Physically Simulated iOCT
Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM)（慕尼黑工业大学慕尼黑机器人与机器智能研究所）；TUM School of Engineering and Design, Technical University of Munich (TUM)（慕尼黑工业大学工程与设计学院）
