computer assisted surgical intervention
Post on 07-May-2015
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Shah Hrishi
Shivaswamy Anirudh
Introduction
“Computer-assisted intervention” is defined as the use of automated systems in surgery
Two different approaches : As a tool (assisting the surgeon)An autonomous system (replacing the
surgeon) Several assistive systems are available, but
the autonomous systems are still in the development stages
History
First robot-assisted surgery performed in 1985, for treating brain lesions
First robot-assisted orthopedic surgery was performed in 1991
In 1991, the first patient was treated with Probot, for prostate cancer.
Newer version of Probot
Classification of surgical systems Surgical Robots Service Robots Prostheses Simulators Robots for diagnosis Passive manipulators Assistive Robots
Surgical Robots
Surgical robots can be tele-manipulators or preprogrammed robots
Tele-manipulators are handled by the surgeon during surgery (intraoperative images used)
Preprogrammed robots are guided by a fixed plan (preoperative images used)
Workflow of tele-manipulators
Typical Workflow of surgical robots
Service Robots.
These are used for rehabilitation They have some pre-programmed
movements which help the patient regain lost functionality
A vision system may be present to support interaction
Simulators
Simulators help in training/ assessment of surgeons
Able to simulate a wide variety of situations
Not subject to the constraints of practicing on humans/animals
Simulator for Orthopaedic operation
Applications
•Orthopaedics
•Urology
•Radiosurgery
•Biopsies / interventional radiotherapy
•Endoscopy/Colonoscopy/Endoscopy
•Cardiac Surgery
•Neurosurgery
•ENT Surgery
•Oral/Cranio-maxillofacial surgery
Orthopaedics.
The operation procedure consists of four main steps:Image acquisitionPlanning with OrthodocRegistration in the operating theatreMilling the cavity by the robot
Examples are RoboDoc, Acrobot, CRIGOS
Parallel Link Robot CRIGOS
Urology.
Probot used for transurethral resection of the prostate
Both imaging and cutting done in the operating theatre - no pre-operative planning required
Main steps:Measuring gland size with ultrasoundImaging and cavity designCutting
Radiosurgery. Main steps:
Image acquisition of CT/MR scansSegmentation and modeling of tumorPlanning of radiation procedureExecution of intervention
Dose distribution and various directions of dose delivery help to protect vital organs from radiation.
Examples:Accuray CyberknifeHitesys NOVAC7
Accuray Cyberknife
Endoscopy/Colonoscopy/Laparoscopy
Surgeon can’t handle instruments and camera at the same time
Other manual control leads to errors so robot control is preferred
Robot may be controlled by surgeon’s head movement.
Examples:EndoassistAesop
Endoassist in operation
Cardiac Surgery.
Generally system consists of a master console and a slave manipulator that executes the commands in the thorax.
Instruments and endoscope inserted through small incisions.
Examples: Zeus, DaVinci.
DaVinci robot in operation
Case study – Needle Insertion…IntroductionIntroduction
Main aim is to avoid obstacles and reach target with minimum invasion
Flexible needle modeled as beam with virtual springs and approximated as a 7 degree polynomial
Initial path planning done Real time correction Experimental verification
Overall setup of system
Case study – Needle Insertion…
Virtual Spring ModelVirtual Spring Model Tissue forces are non-linear with strain –
so modeled as combination of tangential friction force and lateral springs.
Needle broken up into a number of segments at the spring attachment points
Tissue interaction modeled as springs Linear system model
Case study – Needle Insertion…
Forward / Inverse KinematicsForward / Inverse Kinematics Generally, forward kinematics required
to ascertain position of needle end-point from known needle base parameters.
In this scenario, inverse kinematics is done for each point on the planned path to ascertain needle base parameters for this position.
Case study – Needle Insertion…
Path Planning / OptimizationPath Planning / Optimization Relates to finding a path that connects
the target to the needle insertion point while maintaining minimum needle curvature.
Orientation of needle tip unimportant- infinite paths possible.
Minimize sum of squares of virtual spring displacements and slopes.
Multiple solutions for path with same endpoint
Case study – Needle Insertion…Control Loop.Control Loop.
Input is desired needle target excluding its orientation (optimized by controller).
Controller does inverse kinematics and optimization to minimize needle deflections.
Control Loop Diagram
Case study – Needle InsertionNeedle Detection.Needle Detection.
Needle end-point detected by comparison with reference image and rest of needle tracked using low-gradient area.
Full image comparison done only once Needle length also checked Needle fitted using 7 degree polynomial
Actual Needle profile from Fluoroscopy Interpolated needle profile
Current Trends…
MRI-compatible materials / mechatronics / actuators
Safety studies Incorporating haptic feedback into surgical
systems
Challenges/Future Scope
Robotic systems are not usable for routine treatment
Unlike industrial robots, medical robots need to operate in conjunction with the operator
Ease of training and assessment Minimally invasive surgery
References Various product websites ( Prosurgic,
Intuitive etc.) “Robots in the operating theatre—
chances and challenges” - Korb, Marmulla et. al. , Int. J. Oral Maxillofac. Surg. 2004(33)
“Image-Guided Robotic Flexible Needle Steering” – Shoham, Glozman, IEEE Trans. Robotics Vol.23 No.3
Encyclopedia Britannica
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