D'Ettorre, C;
Stilli, A;
Dwyer, G;
Tran, M;
Stoyanov, D;
(2019)
Autonomous Pick-And-Place of a Novel Robotic Surgery Imaging Rail Using the dVRK Platform.
In:
Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019.
(pp. pp. 19-20).
The Hamlyn Centre (Imperial College London)
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Abstract
During Robotic-Assisted Partial Nephrectomy (RAPN) part cancer cells encapsulated by a tumor in the kidney are excised. Ultrasound (US) imagining is used as an intra- operative technique to identify and outline the target tumor. During the surgical procedure, executed with the da Vinci Surgical System (Sunnyvale, CA), the US probe is usually ”dropped-in” through an auxiliary access port, it is then grasped by the robotic tools and swiped on the surface of the kidney because US requires contact to deliver a signal. Slippages are really common during US scanning, causing continuous repositioning of the probe on the target organ surface and when the tumor is in difficult to reach regions management of the probe is cumbersome and awkward. This paper introduces a hardware setup and software ar- chitecture, customized for a novel imaging support system, designed in order to automate part of this surgical procedure to make workflow easier. The new system takes a very different approach to imaging probe navigation for drop-in US by using a vacuum sucker rail attached on the kidney surface to guide the probe’s trajectory and slide. With this paper, we aim to automatically grasp the sucker rail and adequately locate it on the kidney surface so that the surgeon is then allowed to start manually manipulating the US probe along it. The system’s workflow is based on a calibrated environment with a new comparison of real kidney surface registration and a controlled scheme applied on a pre-planned trajectory. We use a preliminary clinical study with four surgeons to evaluate the potential performance and workflow for using this new system design.
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