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Autonomous Pick-And-Place of a Novel Robotic Surgery Imaging Rail Using the dVRK Platform

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) Green open access

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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.

Type: Proceedings paper
Title: Autonomous Pick-And-Place of a Novel Robotic Surgery Imaging Rail Using the dVRK Platform
Event: 12th Hamlyn Symposium on Medical Robotics 2019
ISBN: 2516-5029
Open access status: An open access version is available from UCL Discovery
Publisher version: https://www.ukras.org/wp-content/uploads/2019/06/p...
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Surgical Biotechnology
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10057335
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