Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023最新文献

{"title":"Breast surface reconstruction utilising autonomous robotic assisted ultrasound image acquisition","authors":"A. G. de Groot, V. Groenhuis, S. Stramigioli, F. Siepel","doi":"10.31256/hsmr2023.76","DOIUrl":"https://doi.org/10.31256/hsmr2023.76","url":null,"abstract":"One in eight females will be diagnosed with breast cancer in their lifetime, making it the most diagnosed cancer globally [1]. Three phases are essential for the outcome of breast cancer; early detection, accurate diag- nosis and treatment. Magnetic resonance imaging (MRI) has proven to be highly sensitive in detecting possible tu- mors lesions compared to other image modalities. How- ever, ultrasound (US) guided biopsies are the standard and biopsies on MRI detected lesions is challenging, because these lesions may not be visible on US images. Registration of pre-operative MRI with the intra- operative US combines the benefits of both imaging modalities and subsequently improve tumor localisation. Therefore, this work presents an US image-based sur- face reconstruction based on autonomous acquired US images to increase the accuracy of MRI/US registration. Thereby the proposed work eliminates the need for inter- sensor calibration as would be needed if stereo camera- based, depth camera-based or marker-based breast sur- face reconstruction would be used.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114161922","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Proof of Concept Implementation of Forbidden Region Dynamic Active Constraints in Minimally Invasive Surgery","authors":"Zejian Cui, F. Rodriguez y Baena","doi":"10.31256/hsmr2023.4","DOIUrl":"https://doi.org/10.31256/hsmr2023.4","url":null,"abstract":"Active Constraints (AC), also named as Virtual Fixtures (VF), are a strategy to provide anisotropic haptic guid- ance for surgeons during use so that motions that comply with safety requirements are permitted, while those that breach safety requirements are negated. AC can be helpful also in a teleoperative surgical scenario, in which surgeons operating on the surgeon-side interface are sep- arated from the patient-side, where surgical instruments are held and manipulatd by a robot. One challenging as- pect of incorporating AC into a modern clinical setting is how to efficiently update pre-constructed AC geometries in real time to account for dynamic tissue movement. In this study, we designed a pipeline for implementing Forbidden Region AC (FRAC), where tissue move- ment is constantly captured by a depth-sensing camera. The effectiveness of the pipeline has been confirmed through in vitro trajectory tracking experiments along a deforming aorta phantom. Our experimental results demonstrate the capability of our method to provide timely corrective guidance when a violation of the safety region is detected.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123442212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Free-Viewpoint Augmented Reality Navigation for Laparoscopic Surgery Based on Virtual Markers And SLAM","authors":"Bo Guan, Zhenxuan Hu, Yuelin Zou, Jianchang Zhao, Shuxin Wang","doi":"10.31256/hsmr2023.24","DOIUrl":"https://doi.org/10.31256/hsmr2023.24","url":null,"abstract":"Minimally invasive surgery (MIS) has been widely applied in the field of surgery due to its clinical benefits such as low invasiveness and low risk of infection [1]. The surgeon's understanding of the anatomy is a key factor that influences intraoperative complications in MIS [2]. In laparoscopic cholecystectomy (LC), for example, complications due to incomplete exposure of anatomical structures such as the cystic duct and common bile duct account for 92.9% of all LC complications [3]. The key step in LC is to reveal Calot's triangle properly, which is more difficult in cases of heavy inflammation of the gallbladder, encapsulation of surrounding tissues and anatomical variation. This may result in misinterpretation of the anatomy by the surgeon and thus increases the incidence of bile duct injury (BDI) of medical origin [4]. Video see-through augmented reality (VST-AR) navigation [5], a new technology is introduced to address these issues. As a new research hotspot in the field of laparoscopic augmented reality navigation, this technology visualizes the surgical target and key anatomical structures by means of a video transparency overlay to enhance intraoperative perception and improve the safety of the surgery. The core technical issue of VST-AR is the registration, which refers to the matching of a virtual 3D organ model reconstructed preoperatively by CT or MR to the laparoscopic image. The registration is divided into two phases: initial registration and tracking. This study proposes a VST-AR navigation framework based on virtual markers and SLAM. The concept of virtual markers is introduced to achieve rapid non- invasive registration of the virtual scene to the real scene. Based on the patient's body surface features, the proposed navigation framework achieves dynamic tracking of the laparoscope pose and free viewpoint transparency of hidden anatomical structures. In the case of laparoscopic cholecystectomy, for example, the key anatomical structures, such as the gallbladder and the cystic duct, are overlaid onto their corresponding positions in the liver, so as to support the surgeon with the refinement of the operation.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116583204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"dVRK-based teleoperation of a CTR robot with stereovision feedback for neurosurgery","authors":"Changyan He, R. Nguyen, E. Diller, James M. Drake, T. Looi","doi":"10.31256/hsmr2023.3","DOIUrl":"https://doi.org/10.31256/hsmr2023.3","url":null,"abstract":"Decades of efforts have been made to minimize the invasiveness of the procedures inside the patient’s brain. Endoscopic tools are first developed and applied in neurosurgery, which significantly reduce the trauma to a limited number of small holes but also limit the surgeon’s reachability to the target tissue inside of the brain due to the tool’s rigidity. Flexible robotic tools are then introduced to perform the procedures with a minimally invasive approach [1] by providing enhanced dexterity with their tentacle-like body. However, intuitive and efficient manipulation of the robotic tools remains challenging because currently the surgeon manipulates the robotic tools with feedback of the monocular vision from a standard clinical neuro-endoscope suffering from lack of depth perception. In this paper, we propose a robotic system with a flexible end-effector and stere- ovision feedback for neurosurgery by integrating our previously-developed Concentric Tube Robot (CTR)[2], the da Vinci Robot Research Kit (dVRK) [3] and a customized dual endoscope camera subsystem. The CTR manipulator was teleoperated with the dVRK master tool manipulator (MTM). A virtual motion boundary was applied for the MTM by haptic feedback based on the CTR’s workspace to guide the operator to control the CTR within its motion range. The manipulation performance of the proposed system was experimentally evaluated and the results of that showed under the stereovision feedback the manipulation accuracy of the CTR is 2.8 mm and the image transmission latency is 1.5 seconds. This preliminary study suggests that our proposed system has the potential of improving surgeons’ manipulation performance in robot-assisted minimally invasive neurosurgery.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125780322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Towards a robotic minimally invasive surgery assessment and augmentation platform for visual-haptic acuity development","authors":"S. Machaca, Jeremy D. Brown","doi":"10.31256/hsmr2023.44","DOIUrl":"https://doi.org/10.31256/hsmr2023.44","url":null,"abstract":"Up to half of the technical errors made by surgical trainees result from improper tool forces on tissue [1]. This skill inadequacy is exacerbated in robotic min- imally invasive surgery (RMIS) due to the perpetual technical barriers prohibiting robust haptic (touch) sen- sations in clinical RMIS systems. Expert RMIS surgeons have developed a unique skill, termed visual-haptic acuity, that enables them to visually estimate the absent haptic sensations [2]. RMIS experts have developed this visual-haptic acuity through years of repeated surgi- cal practice, on real patient tissue. For current RMIS trainees, limitations on working hours and caseloads severely constrain practice with real patient tissue [3]. Given that skill gained in virtual reality simulation does not always transfer to the real world [4], there is a critical need for a focus on visual-haptic acuity development. Previous research has shown that supplemental hap- tic feedback provided during simulation-based RMIS training helps surgical trainees to reduce their applied forces when completing RMIS training tasks [5], and that this effect is sustained even when haptic feedback is removed [6]. In addition, supplemental haptic feedback has demonstrated the potential to help RMIS trainees increase accuracy (reduce applied forces) while also increasing speed (reducing task completion time) during RMIS training [7]. Unfortunately, the benefits of sup- plemental haptic feedback have not been demonstrated beyond basic simulated training environments. Addition- ally, we lack validated objective methods for specifically assessing an RMIS trainee’s ability to visually estimate haptic sensations when operating on real patient tissue. In light of this need, we are developing a modular data acquisition and multimodality haptic feedback system (as shown in Figure 1) to catalyze visual-haptic acuity development for novice RMIS trainees.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"33 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125853165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and Control of a Tele-operated Soft Instrument in Minimally Invasive Surgery","authors":"Jialei Shi, H. Wurdemann","doi":"10.31256/hsmr2023.16","DOIUrl":"https://doi.org/10.31256/hsmr2023.16","url":null,"abstract":"The medical sector has emphasised increasing levels of autonomy to achieve safe and efficient robot-assisted surgeries [1]. In this case, robust and intuitive manip- ulation of medical robots is crucial, and many tele- operated surgical robots have been developed, e.g., the da Vinci robotic platform. The tele-operation can of- fer high operation precision and intuitive manipulation. In addition, soft robots have led to the development of inherently safe and flexible interventional tools for medical applications, e.g, the minimally invasive surgery (MIS). Soft instruments are particular advantageous to navigate in tortuous anatomical environments with constrained space [2]. Combining the tele-operation technology with soft robots might further result in a significant reduction in operation time and increase of surgeons’ dexterity [3]. The contribution of this work lies in the design and control of a tele-operated soft instrument for laparoscopic examination are proposed based on the miniaturised STIFF-FLOP manipulators (with a diameter of 11.5 mm) [4]. Specifically, the robot has two serially connected modules, which can seamlessly fit to commercially available 12 mm trocar ports used in MIS (see Fig. 1). The bending angle of the soft instrument can achieve 180◦ . We also preliminarily validate the feasibility of the soft instrument.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128099205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Scalable and Spatially Selective Actuation of Living Microrobots","authors":"Seyed Nima Mirkhani, T. Gwisai, M. G. Christiansen, S. Schuerle","doi":"10.31256/hsmr2023.55","DOIUrl":"https://doi.org/10.31256/hsmr2023.55","url":null,"abstract":"In drug delivery, one key challenge is to minimize off- target accumulation in healthy regions, which can lead to toxicity or other associated complications. To address this challenge, drug delivery platforms can be designed either to localize the accumulation of active compounds to the target site or to selectively activate the portion that arrives in the targeted tissue. In the case of living bacterial therapeutics or bacteria-based biohybrid microrobots, bacteria can be equipped with onboard sensing, aiding their preferred accumulation in target regions such as tumors [1]. Nevertheless, robust tumor colonization by bacteria is still limited by low administrable doses and biological barriers that permit only a small portion to reach a target site after intravenous administration. Therefore, strategies that provide a means to target external energy to bacteria in a spatially selective manner can offer a much-needed element for enhanced targeting of living therapeutics [2]. Magnetotactic bacteria (MTB) are a group of bacteria noted for their intrinsic responsiveness to magnetic fields, and have been investigated as a drug carriers and potential living therapeutics. We previously demonstrated the possibility for enhancing tumor colonization using a scalable magnetic torque-based control approach employing a homogenous rotational magnetic field [3]. Here, we increase the spatial selectivity of this technique by employing a magnetostatic selection field that suppresses off target torque-based actuation.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134360135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimizing Heart Valve Surgery with Model-Free Catheter Control","authors":"A. Bicchi, Francesca Fati, Mariagrazia Fati, E. Votta, E. De Momi","doi":"10.31256/hsmr2023.65","DOIUrl":"https://doi.org/10.31256/hsmr2023.65","url":null,"abstract":"Currently, cardiac catheters for Structural Heart Disease (SHD), are maneuvered manually through the vascular pathway to the chambers of the heart by skilled surgeons. Given the complexity of these maneuvers, we aim at introducing a variable shared autonomy robotic platform for intra-procedural support, by robotizing the commercial MitraClipTM System (MCS). The MCS allows the treatment of mitral regurgitation by percutaneously implanting a clip that grasps the valve leaflets. In light of that, the aim of this paper is to propose a position control strategy that guarantees good trajectory tracking. In the field of control of catheter robots, having a good model is a key point in order to obtain reliable control. A model-based approach on the assumption of a constant curvature (CC) model has been proposed by [1]. The CC model, however, involves simplifying assumptions about catheter shape and external loading, moreover, nonlinearities of the catheter (as dead zones and tendon slack) are usually neglected. In order to include such nonlinearities, the Cosserat Rod model has been exploited by [2]; however, this complicates the model and involves high computational costs which makes the control not feasible in real-time. Modelfree controllers based on machine learning represent a valid alternative to analytical models, considering their potential in model uncertainties that strongly influence soft robot control [3]. In [4] they proposed a formulation for learning the inverse kinematics of a continuum manipulator while integrating the end-effector position feedback. We developed a Neural Network based Inverse Kinematic Controller (IKC) shown in the scheme in Fig. 1. The inputs of the net are the target tip pose, 𝒑¯𝑘+1 at the next time instant, the current servomotors position, 𝒒𝑘 , and the current tip pose 𝒑𝑘 , while the output is the position of the servomotor at the next time instant 𝒒𝑘+1 . Our goal is to build a robust control starting from the state-of-the-art control applied to the MCS presented in [5] by X. Zhang et all and adding to it the control also in the orientation of the tip. Moreover, we characterize the control model proposed, by testing its robustness at different motors’ velocities.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116482645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Priority-Based Shared Control for Peg Transfer Task","authors":"Zhaoyang Jacopo Hu, Longrui Chen, Yanpei Huang, E. Burdet, F. Rodriguez y Baena","doi":"10.31256/hsmr2023.57","DOIUrl":"https://doi.org/10.31256/hsmr2023.57","url":null,"abstract":"Supervisory methods in shared control allow a dynamic adjustment of the level of autonomy in a surgical robot based on the current task demands and the capabilities of the human operator. Several benchmarks [1] are avail- able to evaluate the performance of these controllers, however the operator can struggle with the task due to inexperience or limited environmental information. In this paper, we propose an admittance control strategy based on guidance priority adaptation to enable a human operator to assume a supervisory role during one-handed peg transfer task (Figure 1). We implement an epsilon- greedy maximum entropy inverse reinforcement learning (EG MaxEnt IRL) [2] algorithm to enable an agent to control the surgical tool in a virtual environment while the human supervises the procedure. We successfully implement the proposed method and observe that the supervisory method can be further improved with a cooperative control, specifically a segmented control.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128731339","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evolutionary Deep Learning using hybrid EEG-fNIRS-ECG Signals to Cognitive Workload Classification in Laparoscopic Surgeries","authors":"Adrian Rubio Solis, Kaizhe Jin, R. Naik, G. Mylonas","doi":"10.31256/hsmr2023.34","DOIUrl":"https://doi.org/10.31256/hsmr2023.34","url":null,"abstract":"Deep learning classifiers have demonstrated their ability to provide robust accuracy for the treatment of com- bined signals including electroencephalography (EEG) and functional near infrared spectroscopy (fNIRS) [1], [2]. In this work, an evolutionary deep learning strategy is applied to classify different cognitive workload states that surgeons experience during laparoscopic surgery. The proposed learning strategy is applied to train an Evolutionary Multilayer Perceptron Neural Network (E- MLPNN), where multimodal raw data of EEG, fNIRS and Electrocardiogram (ECG) signals were collected and concatenated from a series of ten experiments using the back-end platform Multi-sensing AI Environment for Surgical Task & Role Optimisation (MAESTRO) as shown in Figure 1(a). Each experiment required surgical trainees to perform a simulated laparoscopic cholecystec- tomy (LCH), i.e. the removal of a gallbladder in a porcine model using a minimally invasive surgical technique as demonstrated in Figure 1(b). At each experiment, the level of Cognitive Workload (CWL) is assumed to increase as the mental activity increases during the surgical operation. As presented in Figure 1c, a number of tasks performed during the LCH were defined to measure the level of CWL","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126753700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}