Cooperative Control Robotics and Computer Vision: Development of Semi-Autonomous Temporal Bone and Skull Base Surgery

协作控制机器人和计算机视觉：半自主颞骨和颅底手术的发展

基本信息

批准号：
10631972
负责人：
Francis Xavier Creighton
金额：
$ 19.18万
依托单位：
JOHNS HOPKINS UNIVERSITY
依托单位国家：
美国
项目类别：
财政年份：
2021
资助国家：
美国
起止时间：
2021-06-01 至 2026-05-31
项目状态：
未结题

来源：
https://reporter.nih.gov/project-details/10631972
关键词：
3-Dimensional Address Adoption Algorithms Anatomy Area Atlases Automobile Driving Automobiles Biomedical Engineering Cadaver Cochlea Communication Complex Computer Vision Systems Computers Consumption Data Development Drug Delivery Systems Dura Mater Educational process of instructing Electromagnetics Engineering Equilibrium Ethics Facial nerve structure Feedback Future Goals Hand Head and Neck Surgery Hearing Human Image Image-Guided Surgery Intervention Judgment K-Series Research Career Programs Knowledge Labyrinth Lateral Left Manuals Mentors Methods Microscope Modeling Modernization Monitor Motion Movement Operative Surgical Procedures Otolaryngology Outcome Patients Positioning Attribute Postoperative Period Procedures Process Research Research Personnel Robot Robotics Safety Scientist Shapes Sigmoid colon Site Speed Structure Surface Surgeon Surgical Instruments Surgical complication System Tactile Techniques Technology Temporal bone structure Testing Time Training Tremor Update Work X-Ray Computed Tomography automated segmentation career computer science deep learning digital digital imaging image guided image registration improved instrument learning network medical schools microscopic imaging millimeter multidisciplinary neurovascular novel professor responsible research conduct robot control simulation skills skull base stereoscopic success surgery outcome three-dimensional modeling virtual

项目摘要

Project Summary I am an assistant professor in the department of Otolaryngology-Head and Neck Surgery at the Johns Hopkins School of Medicine, where my practice is focused on neurotology and lateral skull base surgery. I am applying for a mentored surgeon-scientist career development award (CDA) to obtain further training in robotics, deep learning and computer vision. This will further my long-term career goals of improving neurotologic surgical outcomes through novel applications of engineering methods and ultimately to investigate semi-autonomous, robotic interventions in the inner ear and skull base which are beyond the limits of the human hand alone. Operating in the temporal bone and lateral skull base is technically demanding due to complex three- dimensional anatomy, small working spaces and delicate neurovascular structures. Many of these challenges are ideally suited to semi-autonomous surgical platforms to augment a surgeon’s skills with robotic and image- guided assistance. Despite the widespread implementation of robotic surgery and image guidance in other areas of the body, the field of neurotology has had relatively little adoption of this technology. We believe one reason for this is the precise registration needed in this field, where millimeter differences differentiate a successful from a catastrophic result. This CDA proposes expanding on my prior work investigating cooperative control robotics and virtual safety barriers by using computer vision and deep learning networks to develop highly accurate surgical image registration. This CDA aims to provide me with multi-disciplinary training in the departments of Otolaryngology, Biomedical Engineering and Computer Science. Specific training goals include: (1) Training in robotics, statistical shape modeling and computer tomography landmark segmentation, (2) Training in deep learning networks and computer vision video image registration, (3) Integrating this training, with my knowledge of temporal bone and skull base surgery to develop into an independent investigator (4) Pursue additional training in the ethical and responsible conduct of research. The research plan addresses the hypothesis that virtual safety barriers can be accurately enforced by a cooperative control robot, and computer vision methods can be used to automate accurate placement and registration of these safety barriers. I believe that the integration of these techniques will allow for semi- autonomous surgical methods resulting in improved surgical safety and efficiency. The specific aims of the proposal are to: (1) Develop and Validate Cooperative Control Robot Enforced Virtual Safety Barriers for Cortical Mastoidectomy (2) Develop and Test Autonomous Segmentation of Lateral Skull Base Anatomy (3) Develop Video-Based, Fiducial-less, Surgical Image Registration to Detect and Update the 3-D Position of Temporal Bone Anatomy from Intraoperative Stereoscopic Microscope Video.

项目摘要我是约翰·霍普金斯（Johns Hopkins）耳鼻喉科和颈部手术系的助理教授医学院，我的实践专注于神经学和横向颅底手术。我正在申请获得指导的外科医生科学家职业发展奖（CDA），以获得进一步的机器人技术培训学习和计算机视觉。这将进一步改善神经学手术的长期职业目标通过工程方法的新应用，最终研究半自主，内耳和颅底的机器人干预措施仅超出了人手的极限。由于复杂的三个尺寸解剖结构，小型工作空间和微妙的神经血管结构。其中许多挑战理想地适合半自治的手术平台，可通过机器人和图像来增强外科医生的技能 - 指导协助。尽管在其他领域实施了机器人手术和图像指导的宽度在身体中，神经学领域的采用相对较少。我们相信一个原因这是该领域所需的确切注册灾难性的结果。这个CDA提案扩大了我先前的工作调查合作控制机器人技术和虚拟安全障碍通过使用计算机视觉和深度学习网络来高度发展准确的手术图像注册。该CDA旨在为我提供多学科的培训耳鼻喉科，生物医学工程和计算机科学系。具体培训目标包括：（1）机器人技术培训，统计形状建模和计算机断层标志分段，（2）深度学习网络和计算机视频视频图像注册中的培训，（3）整合此培训，鉴于我对临时骨骼和颅底手术的了解，可以发展成独立的研究者（4）在道德和负责任的研究中进行其他培训。研究计划解决了以下假设：虚拟安全壁垒可以通过合作控制机器人和计算机视觉方法可用于自动化准确的放置和这些安全障碍的注册。我相信这些技术的集成将允许半自主手术方法，导致手术安全性和效率提高。特定目标提案是：（1）开发和验证合作控制机器人的皮质安全壁垒乳突切除术（2）开发和检验侧颅底解剖结构的自主分割（3）基于视频的，无信任的外科手术图像注册，以检测和更新寺庙的3-D位置术中立体显微镜视频中的骨解剖学。

项目成果

期刊论文数量（9）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

A force-sensing surgical drill for real-time force feedback in robotic mastoidectomy.

用于机器人乳突切除术中实时力反馈的力感应手术钻。

DOI：
10.1007/s11548-023-02873-7
发表时间：
2023
期刊：
International journal of computer assisted radiology and surgery
影响因子：
3
作者：
Chen,Yuxin;Goodridge,Anna;Sahu,Manish;Kishore,Aditi;Vafaee,Seena;Mohan,Harsha;Sapozhnikov,Katherina;Creighton,FrancisX;Taylor,RussellH;Galaiya,Deepa
通讯作者：
Galaiya,Deepa

Tremor Assessment in Robot-Assisted Microlaryngeal Surgery Using Computer Vision-Based Tool Tracking.

使用基于计算机视觉的工具跟踪进行机器人辅助显微喉手术的震颤评估。

DOI：
10.1002/ohn.714
发表时间：
2024
期刊：
Otolaryngology--head and neck surgery : official journal of American Academy of Otolaryngology-Head and Neck Surgery
影响因子：
0
作者：
Cho,SueM;Joo,HenryH;Golla,Pranathi;Sahu,Manish;Shankar,Ahjeetha;Trakimas,DanielleR;Creighton,Francis;Akst,Lee;Taylor,RussellH;Galaiya,Deepa
通讯作者：
Galaiya,Deepa

Understanding Public Perceptions Regarding Cochlear Implant Surgery in Adults.

了解公众对成人人工耳蜗植入手术的看法。