Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023最新文献_第7页

Soft Robotic Pneumatic Actuators Assist Diaphragmatic Dysfunction in a Respiratory Simulator 软机器人气动执行器在呼吸模拟器中协助膈功能障碍

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.49

Diego Quevedo-Moreno, Jonathan Tagoe, E. Roche

{"title":"Soft Robotic Pneumatic Actuators Assist Diaphragmatic Dysfunction in a Respiratory Simulator","authors":"Diego Quevedo-Moreno, Jonathan Tagoe, E. Roche","doi":"10.31256/hsmr2023.49","DOIUrl":"https://doi.org/10.31256/hsmr2023.49","url":null,"abstract":"The diaphragm is a critical muscle for the respiratory system, responsible for up to 70% of the inspiration effort. Phrenic nerve trauma or neuromuscular disease can generate severe diaphragm dysfunction that ultimately leads to respiratory failure [1]. The current treatment for patients with severe diaphragm dysfunction is permanent airway tethering to mechanical ventilation, which greatly impacts patient’s quality of life and autonomy by hindering activities like speech, swallowing, and mobility. Soft robots are ideal to assist in complex biological functions like the contraction of the diaphragm. Diaphragmatic mechanical assistance using implantable soft robots has shown promising results in restoring respiratory function [2]. However, the design of the soft robotic actuator can be optimized to effectively assist the diaphragm. Here, we present a soft robotic pneumatic actuator that inverts its curvature to efficiently displace the diaphragm and assist in the inspiratory effort, restoring physiological thoracic and abdominal pressurization levels. Moreover, we show how the respiratory simulator can replicate clinically relevant pleural pressure (Ppl) and abdominal pressure (Pab), demonstrating its potential as a platform to validate this technology.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"22 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":"125432923","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}

引用次数: 0

Percutaneous focal tumour ablation assisted by mini-stereotactic frame: proof-of-concept 微型立体定向框架辅助的经皮局灶性肿瘤消融:概念验证

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.66

Joeana Cambranis-Romero, Terry M. Peters, E. Chen

{"title":"Percutaneous focal tumour ablation assisted by mini-stereotactic frame: proof-of-concept","authors":"Joeana Cambranis-Romero, Terry M. Peters, E. Chen","doi":"10.31256/hsmr2023.66","DOIUrl":"https://doi.org/10.31256/hsmr2023.66","url":null,"abstract":"The success of percutaneous focal tumour ablation largely depends on precise needle placement: an abla- tion zone, typically described as an ellipsoid centred on the ablation active needle tip, needs to completely enclose the tumour with a positive margin [1]. To facilitate precise needle placement, many types of needle guidance devices were developed, providing mechanical support and improving the targeting of the lesion [2]. Designs of these guiding apparatuses vary, including those that are rigidly attached to the Ultrasound (US) probe, enforcing the “in-plane” needle insertion. This type of targeting device forcefully maintains the needle within the US plane with the potential to improve the targeting accuracy, but at the same time, limits the entry angles of the needle and US probe placement. Other designs include mechanical and robotic (i.e., with electronic characteristics) guiders, which are large and need to be attached/positioned close to the surgical table, potentially restricting the range of movement of the healthcare providers (i.e., physicians and nurses) [3]. In this paper, we present a proof-of-principle surgi- cal navigation system based on a disposable mini- stereotactic frame, which provides mechanical support for precise needle guidance. The pose of this stereotactic needle guider is magnetically tracked and calibrated, allowing the surgeon to visualize the potential needle trajectory in a 3D Virtual Reality (VR) environment prior to needle insertion.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"30 13 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":"127377550","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}

引用次数: 0

A New Suture Needle State estimation Method Based on Electrical Impedance Sensing 一种基于电阻抗传感的缝线针状态估计新方法

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.79

K. Schwaner, Zhuoqi Cheng, T. Savarimuthu

{"title":"A New Suture Needle State estimation Method Based on Electrical Impedance Sensing","authors":"K. Schwaner, Zhuoqi Cheng, T. Savarimuthu","doi":"10.31256/hsmr2023.79","DOIUrl":"https://doi.org/10.31256/hsmr2023.79","url":null,"abstract":"Autonomous surgical task execution has the potential to improve surgeons’ working conditions, increase hos- pital throughput, and better patient outcomes in the future. While fully autonomous robotic minimally inva- sive surgery (RMIS) is currently unrealistic for several reasons, partly automated surgery – or task autonomy [1] – is being explored for different surgical tasks. One such task is suturing, which involves complex motions in a challenging environment. Automating the suturing task using surgical robots has been attracting research interest (see, e.g., [2]–[4] for recent studies). Despite these advances, automated suturing is still lim- ited to controlled environments and is not yet applicable in realistic surgical settings. This paper presents a step towards autonomous robotic suturing. Specifically, we propose a method for suture needle state estimation during insertion into soft tissue based on electrical bioimpedance (EBI) sensing. EBI is an advantageous sensing modality in RMIS, given that it is non-invasive and requires only minor modifications to existing surgical instruments. In this study, we equip a surgical robot with EBI sensing capabilities, allowing the robot to measure the electrical impedance between a needle driver instrument and a common ground elec- trode. The proposed method requires a suture needle with insulation coating except for its tip, end, and notch in the middle. We conducted an experiment for concept validation based on ex vivo animal tissue where we obtained a 98.8 % prediction accuracy on four different suture needle insertion states. Most interestingly, we could accurately determine when the needle tip exits after being pushed through soft tissue, which is chal- lenging to do with, e.g., computer vision due to the needle’s small size and occlusions. The needle tip exiting is valuable information as often one wishes to grasp the needle tip with a second manipulator to complete the suture throw by pulling the needle through the tissue.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"65 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":"129201642","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}

引用次数: 0

Toward Multiple-Point Stiffness Changing Surgical Needle for Eye Surgery Robotic System 眼外科机器人系统中多点变刚度手术针的研究

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.11

Rong-rui Chen, Gowoon Gowoon, Seong Young Ko

{"title":"Toward Multiple-Point Stiffness Changing Surgical Needle for Eye Surgery Robotic System","authors":"Rong-rui Chen, Gowoon Gowoon, Seong Young Ko","doi":"10.31256/hsmr2023.11","DOIUrl":"https://doi.org/10.31256/hsmr2023.11","url":null,"abstract":"Nowadays, minimally invasive surgeries require thin and slender instruments, such as needles and catheters, which can reach the surgical sites inside the human body. Especially, eye surgery requires high precision and steady manipulation of the inside of the the human eyeball. Through this manipulation, diseases such as epiretinal membrane, retinal detachment, diabetic retinopathy, and macular holes can be treated, and drugs can be delivered to the target sites for effective treatment [1]. There are two classifications of stiffness change robots that can be used for ophthalmic surgery. One is to use two or more pre-curved elastic material tubes and control it by the insertion/retraction and axial rotation motions. Another one is to use the tendon-pulley mechanism [2],[3]. Ravigopal et al. proposed the mechanism using one tendon and notched tube [4] and Jeong et al. utilized one tendon and two notched tubes [5], which are for cardiovascular diseases. Kim et al. presented interaction forces of one inner tube and one outer tube with a specific pattern to change the stiffness of wires with diameters of 8~10mm[6] and 1~2mm[7]. In this paper, we propose a mechanism that can change change the stiffness of the needle at two different points independantly.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"76 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":"125644209","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}

引用次数: 0

Design and Calibration of a Robot-Driven Catheter Actuation System 机器人驱动导管驱动系统的设计与标定

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.71

N. Feizi, Filipe C. Pedrosa, Elaheh Arefinia, J. Jayender, Rajni V. Patel

{"title":"Design and Calibration of a Robot-Driven Catheter Actuation System","authors":"N. Feizi, Filipe C. Pedrosa, Elaheh Arefinia, J. Jayender, Rajni V. Patel","doi":"10.31256/hsmr2023.71","DOIUrl":"https://doi.org/10.31256/hsmr2023.71","url":null,"abstract":"Flexible steerable tendon-driven systems are crucial in medical interventions, due to their ease of access to narrow spaces and safe operation [1]. Two examples of these systems are ablation and intra-cardiac echocardiog- raphy (ICE) catheters, used for non-invasive ultrasound imaging and ablation in cardiac procedures inside the heart. However, precise positioning of these devices to obtain optimal anatomical views is challenging for the cardiologist and requires specialized training [2]. Custom-made tendon-driven robots have been developed and modeled using Cosserat rod theory [3], [4]. How- ever, most of these efforts have been directed towards creating new flexible robots with known parameters rather than adapting pre-existing tendon-driven systems, such as conventional ICE or ablation catheters. In [5] a 4-DoF robot was developed to manipulate and con- trol a 4-tendon ICE catheter by actuating the knobs on the catheter handle. Nevertheless, the dynamics of the catheter’s knob introduce friction and dead zones in the system. In our study, we developed a novel robot for catheter control and experimentally determined the parameters of a 2-DoFs quasi-static model of the ICE catheter. Our design eliminates the complexity of catheter knob dynamics by employing direct tendon actuation, distinguishing it from existing literature. The proposed robot will later be used in a visual-servoing mode to autonomously follow an ablation catheter.","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":"130070813","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}

引用次数: 0

Soft artificial bladder with volume monitoring capabilities 具有容量监测功能的软性人工膀胱

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.47

Federica Semproni, V. Iacovacci, Sabina Maglio, Simone Onorati, Michele Ibrahimi, A. Menciassi

{"title":"Soft artificial bladder with volume monitoring capabilities","authors":"Federica Semproni, V. Iacovacci, Sabina Maglio, Simone Onorati, Michele Ibrahimi, A. Menciassi","doi":"10.31256/hsmr2023.47","DOIUrl":"https://doi.org/10.31256/hsmr2023.47","url":null,"abstract":"Urinary bladder cancer is the tenth most common cancer in the world with an incidence of approximately 550,000 new cases each year [1]. Non-muscle invasive tumors are locally removed with trans urethral resection or chemotherapy, while invasive tumors (30% of cases) are generally treated with the surgical removal of the entire bladder and the urethra (radical cystectomy) to avoid recurrence [2]. Following cystectomy, uretero- cutaneostomy (i.e., urine drainage from the kidneys to an external container) or neobladder reconstruction with autologous intestine are possible solutions. Although they are standard clinical procedures, they present several complications including possible onset of infections, rupture of the neobladder, tumor recurrence, as well as low patient’s quality of life [3]. This scenario motivates the development of alternative solutions to restore bladder functions, i.e., urinary continence and controlled micturition. Over the years, researchers moved towards the development of fully implantable bioartificial [4] and artificial [5] bladder systems. Considering the Valsalva maneuver (i.e., abdominal torsion) as a possible voiding strategy, two functions are crucial for a complete bladder system: urine collection and fullness sensitivity. In this regard, some preliminary sensing systems have been proposed in literature. However, the solutions are closely related to specific and not bio-inspired geometries [5] or suitable only for small animals [6]. In this framework, we propose a novel biorobotic organ composed of a soft hexagonal-shaped artificial bladder (AB) coupled to a resistive textile sensors-based volume monitoring apparatus. The foldable structure of the AB together with the small thickness and flexibility of the embedded sensors make the system compact and suitable for implantation. The design and fabrication processes are here shown together with a preliminary validation of the sensorized AB.","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":"130329104","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}

引用次数: 0

Enhancing Fluoroscopy-Guided Interventions: a Neural Network to Predict Vessel Deformation without Contrast Agents 增强透视引导干预:神经网络预测血管变形没有造影剂

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.38

François Lecomte, V. Scarponi, Pablo Alvarez, J. Verde, J. Dillenseger, E. Vibert, S. Cotin

{"title":"Enhancing Fluoroscopy-Guided Interventions: a Neural Network to Predict Vessel Deformation without Contrast Agents","authors":"François Lecomte, V. Scarponi, Pablo Alvarez, J. Verde, J. Dillenseger, E. Vibert, S. Cotin","doi":"10.31256/hsmr2023.38","DOIUrl":"https://doi.org/10.31256/hsmr2023.38","url":null,"abstract":"Image-guided procedures have experienced a rapid in- crease in popularity in recent years. The advancements in medical imaging technology have led to a shift in medical images from being used primarily for diagnosis to being a critical tool in theragnostic and therapeutic procedures. This shift has resulted in the emergence of new fields such as interventional radiology (IR), thera- peutic endoscopy (TE), and minimally invasive image- guided surgery (IGS), with an increasing number of professionals adopting these techniques in their clinical practices due to improved outcomes [1]. One of the most widely used imaging methods in these procedures is X-ray-based imaging, including computed tomography (CT), 2D C-arm fluoroscopy, and cone-beam CT scans. These procedures typically require the use of contrast agents (CA) to visualize soft tissues with high definition and contrast. However, the use of CA presents several challenges, including the limited volumes that can be used and the toxicity of the agents when they are injected intravascularly [2]. The CA also follows the patient’s hemodynamics, leading to transient visualization and asynchronous image guidance. In this paper, we aim to address the technical issues related to contrasted X- Ray images in image-guided therapy. We propose a deep learning approach that will allow for the visualization of vessels during image-guided procedures without the need for contrast agents, making these procedures safer, and more efficient, while providing real-time guidance.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"3 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":"130635498","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}

引用次数: 0

Design of an ex-vivo experimental setup for spine surgery based on in-vivo identification of respiration-induced spine movement 基于呼吸诱导的脊柱运动在体识别的脊柱外科离体实验装置的设计

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.43

Elie Saghbiny, Saman Vafadar, Antoine Harlé, G. Morel

{"title":"Design of an ex-vivo experimental setup for spine surgery based on in-vivo identification of respiration-induced spine movement","authors":"Elie Saghbiny, Saman Vafadar, Antoine Harlé, G. Morel","doi":"10.31256/hsmr2023.43","DOIUrl":"https://doi.org/10.31256/hsmr2023.43","url":null,"abstract":"In spine surgery, e.g., pedicle screw placement, patients are in the prone position, anesthetized, and breath using respirators. Respiration-induced spine movements may interfere with the operation. For evaluating spine surgery robotic systems [1] without resorting to in-vivo experi- ments, it is necessary to provide a setup that realistically reproduces the spine movement in a lab. The literature is not very rich in documenting such a movement. Most of the time, only the range of motion of one or two vertebrae is provided. Glossop et al. [2] measured this respiration-induced motion for two human lumbar vertebrae (L3 and L4) to be 1.3 mm using optical markers screwed to the spinous process. The same authors [3] measured the respiration-induced motion, using the same techniques, for three pig lumbar vertebrae (L3-L5) under ventilation that ranged from 0.8-1.1 mm. In a more recent study, Liu et al. [4] measured this motion on different levels of vertebrae – cervical (C1), thoracic (T7), and lumbar spine (L4) – using optical markers placed on the patient’s skin. Mean ± 2SD motions were 1.3 ± 0.7 mm, 2.3 ± 1.6 mm, and 1.6 ± 0.7 mm. In this study, we measure respiration-induced spine movements (T6-L5) in an open-spine surgery on a pig. A mechanical probe mounted on a force-controlled medical robotic arm is used for measurements. Then, we propose an ex-vivo experimental setup that could implement the measured motions to emulate the respiration-induced movement.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"279 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":"134350953","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}

引用次数: 0

Handheld Concentric Tube Robot for Percutaneous Nephrolithotomy 手持式同心管机器人经皮肾镜取石术

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.72

Filipe C. Pedrosa, Ruisi Zhang, N. Feizi, D. Sacco, R. Patel, J. Jayender

{"title":"Handheld Concentric Tube Robot for Percutaneous Nephrolithotomy","authors":"Filipe C. Pedrosa, Ruisi Zhang, N. Feizi, D. Sacco, R. Patel, J. Jayender","doi":"10.31256/hsmr2023.72","DOIUrl":"https://doi.org/10.31256/hsmr2023.72","url":null,"abstract":"The field of continuum robotics continues to advance rapidly, giving these manipulators potential to change the paradigm of minimally invasive medical surgery (MIS) in a near future. As MIS techniques are refined to improve recovery and cosmesis and reduce invasiveness and co-morbidity, continuum robot requirements in MIS applications have become ever stricter. One such application is Percutaneous Nephrolithotomy (PCNL), a first-choice minimally invasive urological procedure for the extraction of large renal calculi (kidney stones) > 2 cm. The standard of care in PCNL entails the percutaneous insertion of a nephroscope via a small incision in the lumbar or lateral abdominal wall regions, followed by accessing a renal calyx to allow direct manipulation of the stone using specialized lithotripsy devices such as ultrasonic or laser equipment, which aids in reducing blood loss during survery [1]. This study proposes a lightweight, compact handheld Concentric Tube Robot (CTR) as an alternative to the conventional straight and rigid PCNL tools. Unlike Girerd et al. [2] our design was conceived solely for the use in PCNL. Our envisaged device aims to provide an alternative to the conventional rigid nephroscopes by flexibly maneuvering the handheld CTR through a prescribed renal calyx and reaching clinical targets while safeguarding sensitive anatomical structures, as illustrated in Fig. 1. Additionally, it is designed to deliver an energy source through its lumen to the renal calculi for laser ablation.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"561 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":"133546281","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}

引用次数: 0

3-D Visualization and Inter-Session Comparison for Robotic Assisted Bladder Cancer Screening 机器人辅助膀胱癌筛查的三维可视化和间歇比较

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.78

V. Groenhuis, A. G. de Groot, E. Cornel, S. Stramigioli, F. Siepel

{"title":"3-D Visualization and Inter-Session Comparison for Robotic Assisted Bladder Cancer Screening","authors":"V. Groenhuis, A. G. de Groot, E. Cornel, S. Stramigioli, F. Siepel","doi":"10.31256/hsmr2023.78","DOIUrl":"https://doi.org/10.31256/hsmr2023.78","url":null,"abstract":"Over 570,000 new cases of bladder cancer are diagnosed worldwide every year[1]. It is essential to detect new tumors as early as possible to reduce the mortality rate. In addition, the muscle invasiveness of lesions should be quantified to determine the optimal treatment plan. Within the ”Next-gen in-vivo cancer diagnostics” re- search project we propose a new cystoscopy instrument consisting of an optical coherence tomography (OCT) sensor, a camera and a light source, mounted on the tip of a concentric tube robot (CTR). The camera images could then be used to create 3-D reconstructions of the bladder wall and to quantifiy changes in its texture between successive cystoscopy sessions. In addition, the camera could guide the OCT sensor to investigate the bladder wall structure at the locations of possible tumors in order to investigate the malignancy and muscle invasiveness. This research specifically reports on creating 3-D re- constructions of bladder phantoms and co-registration of successive sessions, in order to automatically detect and indicate changes in texture which might be related to the onset and growth of tumors. Several research groups performed 3-D reconstruction of the bladder based on monocular images, often in combination with a different sensor or with structured light. Lurie et al. used monocular images (2700 on average) and sophisticated algorithms to create 3-D reconstructions with sufficiently sharp textures such that thin blood vessels are made visible without interruptions [2]. Suarez-Ibarrola et al. also performed detailed 3-D reconstructions of the bladder, but an additional sensor (electromagnetic tracker or inertial measurement unit) was required [4]. Up to date no automatic detection of texture changes in successive cystoscopy sessions has been reported in literature.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"28 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":"134079610","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}

引用次数: 0