Ultrasound Assistant for a Laparoscopic Surgical Robot

腹腔镜手术机器人的超声助手

• 批准号: 6739765
• 负责人: RUSSELL H TAYLOR
• 金额: $ 10.46万
• 依托单位: INTUITIVE SURGICAL, INC.
• 依托单位国家: 美国
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-08-01 至 2005-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6739765
• 关键词: animal tissue; bioengineering /biomedical engineering; bioimaging /biomedical imaging; biomedical equipment development; biopsy; computer program /software; image processing; laparoscopy; liver neoplasms; neoplasm /cancer classification /staging; neoplasm /cancer surgery; phantom model; robotics; three dimensional imaging /topography

DESCRIPTION (provided by applicant): This project represents Phase I of a combined Phase I/Phase II STTR proposal to develop a telerobotic surgical system with an integrated robot-assisted laparoscopic ultrasound (LUS) capability, based upon Intuitive Surgical's da Vinci(r) robot and upon ongoing research at Intuitive Surgical and Johns Hopkins University (JHU). The project uses laparoscopic liver cancer surgery as a focusing application in both phases, although the broader aim is development of a versatile system that is useful for many procedures. The proposed work will develop robot-assisted laparoscopic ultrasound integrated into the da Vinci surgical robot system, for application to cancer staging, biopsy, ablative therapy, and resection, in order to make these procedures significantly more accurate, more effective, and less expensive. Phase I specific aims include: 1) integration of an ultrasound probe with da Vinci, 3D image generation from scanned 2D images, ultrasound probe tracking, calibration, and image presentation; 2) development of robot probe manipulation behaviors to be carried out under the surgeon's supervisory control; and 3) evaluation of the Phase I system capabilities to determine quantitative performance and assess user acceptability. At the end of Phase I, the surgeon will be able to manually control the ultrasound probe being held by da Vinci to acquire 2D ultrasound slices calibrated and registered in the endoscopic camera frame. A client workstation (the "Intelligent Controller") communicating with da Vinci will assemble these 2D slices into a 3D ultrasound image that da Vinci will display in the 3D display in its surgeon console, side-by-side with the video endoscope image. The Phase I system will have a limited ability to actively assist the surgeon in making 3D scans, primarily a "rocking" behavior in which the LUS probe is rotated on its axis and possibly a "lawn mowing" behavior in which the LUS probe is swept along a surgeon defined path. Performance and clinical usefulness will have been assessed using phantom and animal cadaver experiments.

描述（由申请人提供）：

项目成果

Component-based software for dynamic configuration and control of computer assisted intervention systems: Release 1.0.

用于动态配置和控制计算机辅助干预系统的基于组件的软件：1.0 版。

• 发表时间: 2011
• 期刊: MIDAS journal
• 作者: Kazanzides,Peter;Jung,MinYang;Deguet,Anton;Vagvolgyi,Balazs;Balicki,Marcin;Taylor,RussellH
• 通讯作者: Taylor,RussellH

DaVinci canvas: a telerobotic surgical system with integrated, robot-assisted, laparoscopic ultrasound capability.

达芬奇画布：一种远程机器人手术系统，具有集成的机器人辅助腹腔镜超声功能。

• DOI: 10.1007/11566465_100
• 发表时间: 2005
• 期刊: Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
• 作者: Leven,Joshua;Burschka,Darius;Kumar,Rajesh;Zhang,Gary;Blumenkranz,Steve;Dai,XiangtianDonald;Awad,Mike;Hager,GregoryD;Marohn,Mike;Choti,Mike;Hasser,Chris;Taylor,RussellH
• 通讯作者: Taylor,RussellH