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）： 该项目代表了第一阶段/第二阶段STTR合并提案的第一阶段，该提案旨在开发具有集成机器人辅助腹腔镜超声（LUS）功能的远程机器人手术系统，该系统基于Intuitive Surgical的da芬奇（r）机器人以及Intuitive Surgical和约翰霍普金斯大学（JHU）正在进行的研究。该项目使用腹腔镜肝癌手术作为两个阶段的重点应用，尽管更广泛的目标是开发一种适用于许多手术的多功能系统。 拟议的工作将开发机器人辅助腹腔镜超声集成到达芬奇手术机器人系统，应用于癌症分期，活检，消融治疗和切除，以使这些程序显着更准确，更有效，更便宜。第一阶段的具体目标包括：1）超声探头与da芬奇的集成、从扫描的2D图像生成3D图像、超声探头跟踪、校准和图像呈现; 2）在外科医生的监督控制下执行的机器人探头操作行为的开发;以及3）评价第一阶段系统的能力，以确定定量性能并评估用户可接受性。 在阶段I结束时，外科医生将能够手动控制da芬奇手持的超声探头，以采集在内窥镜摄像机框架中校准和配准的2D超声切片。与da芬奇通信的客户端工作站（“智能控制器”）将这些2D切片组装成3D超声图像，da芬奇将在其外科医生控制台的3D显示器中与视频内窥镜图像并排显示。Phase I系统在主动协助外科医生进行3D扫描方面的能力有限，主要是LUS探头绕其轴旋转的“摇摆”行为，以及LUS探头沿着外科医生定义的路径扫过的“割草”行为。将使用体模和动物尸体实验评估性能和临床有用性。

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