Toward Semi-autonomous Cryoablation of Kidney Tumors via Model-Independent Deformable Tissue Manipulation Technique.
Toward Semi-autonomous Cryoablation of Kidney Tumors via Model-Independent Deformable Tissue Manipulation Technique.
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DOI：
10.1007/s10439-018-2074-y
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发表时间：
2018-10
影响因子：
3.8
通讯作者：
Armand M
中科院分区：
文献类型：
--
作者：
Alambeigi F;Wang Z;Liu YH;Taylor RH;Armand M
我们提出了一种新颖的半自主临床医生在环策略，用于对小肾肿瘤进行腹腔镜冷冻消融。为此，我们引入了一种与模型无关的双手操作组织技术。在这种方法中，不是控制在可变形组织（DT）中插入和引导针的机器人，而是在将DT上的目标点精确操作到探头所需的预定义插入位置之后，将冷冻探头引入组织。这种技术有可能降低由于探头在肾脏内插入不当而导致肾脏破裂的风险。然而，这种技术的主要挑战是在操作过程中组织的未知变形行为。为了解决这个问题，我们提出了一种新颖的实时变形估计方法和一个基于视觉的优化框架，它们不需要关于组织变形以及视觉系统的内部/外部参数的先验知识。为了使用达芬奇研究套件评估所提出方法的性能，我们在一个可变形的体模和一个离体羊肾上进行了实验，并使用新的可操作性度量对我们的方法进行了评估。实验表明，在将这些DT操作到所需的插入位置时，能够成功地实时估计它们的变形行为。
We present a novel semi-autonomous clinician-inthe-loop strategy to perform the laparoscopic cryoablation of small kidney tumors. To this end, we introduce a model-independent bimanual tissue manipulation technique. In this method, instead of controlling the robot, which inserts and steers the needle in the deformable tissue (DT), the cryoprobe is introduced to the tissue after accurate manipulation of a target point on the DT to the desired predefined insertion location of the probe. This technique can potentially reduce the risk of kidney fracture, which occurs due to the incorrect insertion of the probe within the kidney. The main challenge of this technique, however, is the unknown deformation behavior of the tissue during its manipulation. To tackle this issue, we proposed a novel real-time deformation estimation method and a vision-based optimization framework, which do not require prior knowledge about the tissue deformation and the intrinsic/extrinsic parameters of the vision system. To evaluate the performance of the proposed method using the da Vinci Research Kit, we performed experiments on a deformable phantom and an ex vivo lamb kidney and evaluated our method using novel manipulability measures. Experiments demonstrated successful real-time estimation of the deformation behavior of these DTs while manipulating them to the desired insertion location(s).
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DOI：
10.1109/iros.2015.7353736
发表时间：
2015-09
期刊：
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Chen AI;Balter ML;Maguire TJ;Yarmush ML
通讯作者：
Yarmush ML
DOI：
10.3109/10929089509106332
发表时间：
1995-01-01
期刊：
Journal of image guided surgery
影响因子：
--
作者：
Glauser, D;Fankhauser, H;Jaccottet, A
通讯作者：
Jaccottet, A
影响因子：
3.8
作者：
Khadem, Mohsen;Rossa, Carlos;Tavakoli, Mahdi
通讯作者：
Tavakoli, Mahdi
影响因子：
9.2
作者：
Webster, Robert J., III;Kim, Jin Seob;Okamura, Allison M.
通讯作者：
Okamura, Allison M.
影响因子：
10.9
作者：
Azar, FS;Metaxas, DN;Schnall, MD
通讯作者：
Schnall, MD