Thermal supervision during robotic laser microsurgery
Thermal supervision during robotic laser microsurgery
复制标题
机器人激光显微手术期间的热监控
DOI：
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复制
发表时间：
2014
期刊：
影响因子：
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通讯作者：
L. Mattos
中科院分区：
文献类型：
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作者：
D. Pardo;L. Fichera;D. Caldwell;L. Mattos
本文介绍了一种机器人激光手术过程中组织温度监测系统。使用机器人系统进行激光手术提供了控制激光束运动和激光辐射曝光时间的机制，允许自动生成切口。这项工作的重点是问题的感知方面，开发一种在机器人激光显微手术期间在线验证组织热状态的技术。获得这些信息对于实现激光切割质量的自动控制至关重要，激光切割质量与组织温度直接相关。从真实的数据中学习的模型估计给定曝光时间和激光功率的温度变化。该模型在真实的系统中实现，并在离体组织上的激光切割过程中进行验证。结果表明，该模型能够实时可靠地估计组织的热状态，从而适合于产生反馈，用于激光切割的自动控制。
This paper presents a system to supervise tissue temperature during robotic laser surgery. The use of robotic systems for laser surgery provides mechanisms to control the motion of the laser beam and the exposure time of laser radiation, allowing the automatic generation of incisions. This work focuses on the perception side of the problem, developing a technology for the online verification of the thermal state of the tissue during robotic laser microsurgery. Obtaining this information is paramount to enable automatic control of laser incision quality, which is directly related to tissue temperature. A model learned from real data estimates the change in temperature given the exposure time and power of the laser. The model is implemented in the real system and validated during laser incisions on ex-vivo tissue. Results show that the model can reliably estimate the thermal state of the tissue in real-time, and thus is suitable to produce feedback for automatic control of laser incisions.
影响因子：
3.5
作者：
Crochet, Jared J.;Gnyawali, Surya C.;Chen, Wei R.
通讯作者：
Chen, Wei R.