Surgical robot with visual servo control by intra-operative images and distributed system architecture

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Use of intra-operative image for surgical guidance, referred as image-guided surgery, has been the focus of interest to achieve minimally invasive surgery and remote surgery. Often the patient motion during the surgery induces the discrepancy between actual location of the cured lesion and that in the pre-planned location in pre-operative images, which are problematic to achieve highly accurate robotics surgery. Based on the background above, the specific aim of this study is to develop image processing and control method to detect the target location in the intra-operative images and update robot control, by disciplinary integration of surgical robotics and medical image processing.As the first set of this study, a real-time ultrasound-guided needle insertion medical robot for percutaneous cholecystostomy has been developed. The proposed instrument uses ultrasound images and modifies the needle path in real time by using a novel ultrasonic image segmentation technique In phantom and v … More olunteer experiments, the needle path update times were 130 and 301 ms per cycle, respectively. In animal experiments, the needle could be placed accurately in the target. The second set of this study was the application of navigator echo and projection profile matching to fast two-dimensional image registration for MR-guided liver robotic therapy. We obtain navigator echoes along the read-out and phase-encoding directions by using modified gradient echo imaging. This registration is made possible by masking out the liver profile from the image and performing profile matching with cross-correlation or mutual informaLion as similarity measures. Both the phantom and volunteer study indicate that this method can in 34 ms with root-mean-square error of 1.6 mm when the given misalignment of a liver is 30 mm.In conclusion, both stun perform registratiodies indicated the positive of intra-operative image guidance for aspects robotic control, and showed feasibility to apple the technology in realistic surgical setting. Less