Image-Guided Procedures, Robotic Interventions, and Modeling

Accurate three-dimensional virtual reconstruction of surgical field using calibrated trajectories of an image-guided medical robot

[+] Author Affiliations
Yuanzheng Gong, Eric J. Seibel

University of Washington, Department of Mechanical Engineering, Human Photonics Laboratory, Seattle, Washington 98195, United States

Danying Hu, Blake Hannaford

University of Washington, Department of Electrical Engineering, Biorobotics Laboratory, Seattle, Washington 98195, United States

J. Med. Imag. 1(3), 035002 (Dec 02, 2014). doi:10.1117/1.JMI.1.3.035002
History: Received July 19, 2014; Accepted October 30, 2014
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Abstract.  Brain tumor margin removal is challenging because diseased tissue is often visually indistinguishable from healthy tissue. Leaving residual tumor leads to decreased survival, and removing normal tissue causes life-long neurological deficits. Thus, a surgical robotics system with a high degree of dexterity, accurate navigation, and highly precise resection is an ideal candidate for image-guided removal of fluorescently labeled brain tumor cells. To image, we developed a scanning fiber endoscope (SFE) which acquires concurrent reflectance and fluorescence wide-field images at a high resolution. This miniature flexible endoscope was affixed to the arm of a RAVEN II surgical robot providing programmable motion with feedback control using stereo-pair surveillance cameras. To verify the accuracy of the three-dimensional (3-D) reconstructed surgical field, a multimodal physical-sized model of debulked brain tumor was used to obtain the 3-D locations of residual tumor for robotic path planning to remove fluorescent cells. Such reconstruction is repeated intraoperatively during margin clean-up so the algorithm efficiency and accuracy are important to the robotically assisted surgery. Experimental results indicate that the time for creating this 3-D surface can be reduced to one-third by using known trajectories of a robot arm, and the error from the reconstructed phantom is within 0.67 mm in average compared to the model design.

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© 2014 Society of Photo-Optical Instrumentation Engineers

Citation

Yuanzheng Gong ; Danying Hu ; Blake Hannaford and Eric J. Seibel
"Accurate three-dimensional virtual reconstruction of surgical field using calibrated trajectories of an image-guided medical robot", J. Med. Imag. 1(3), 035002 (Dec 02, 2014). ; http://dx.doi.org/10.1117/1.JMI.1.3.035002


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