Characterization of photoablation versus incidence angle in soft tissue laser surgery: an experimental phantom study

Ma, Guangshen; Ross, Weston; Tucker, M.B.; Codd, Patrick J.

doi:10.1117/12.2546229

Cited by 3 publications

(4 citation statements)

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“…The L G and σ G can usually be function-fitted with the 3D data collected by high-resolution scanner [8], [11], [12]. Our prior work in [26] has validated the feasibility of using Micro-CT data to characterize the laser-tissue cavities under various incident angles but was limited to 2D analysis. This study extends the analysis from 2D to 3D, building on the same Micro-CT data to determine the Gaussian function parameters.…”

Section: B Data-driven Methods For Gaussian Function Parametersmentioning

confidence: 99%

“…We have a dataset of 3D measurements from a list of 3-DOF orientation angles {θ i } ∈ R 3 . Each laser pulse at θ i can create a tissue cavity described by the Micro-CT point cloud data [26], which is defined as {q i,j } ∈ R 3 . The i refers to the index of incident angle and j as the index of measurement.…”

Section: B Data-driven Methods For Gaussian Function Parametersmentioning

confidence: 99%

“…We first validate the data-driven method by using the Micro-CT data, as discussed in our prior work [26]. We collected the 3D cavity point cloud data from 4 incident angles with 10 repeated measurements.…”

Section: A Data-driven Model With Micro-ct Datamentioning

confidence: 99%

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Robotic Laser Orientation Planning with a 3D Data-driven Method

Ma¹,

Ross²,

Codd³

2022

Preprint

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This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection. Laser scalpels have been widely used in surgery to remove pathological tissue targets such as tumors or other lesions. However, different laser orientations can create various tissue ablation cavities, and incorrect incident angles can cause over-irradiation of healthy tissue that should not be ablated. This work aims to formulate an optimization problem to find the optimal laser orientation in order to minimize the possibility of excessive laser-induced tissue ablation. We first develop a 3D data-driven geometric model to predict the shape of the tissue cavity after a single laser ablation. Modelling the "target" and "non-target" tissue region by an obstacle boundary, the determination of an optimal orientation is converted to a collision-minimization problem. The goal of this optimization formulation is maintaining the ablated contour distance from the obstacle boundary, which is solved by Projected gradient descent. Simulation experiments were conducted and the results validated the proposed method with conditions of various obstacle shapes and different initial incident angles.

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Section: B Data-driven Methods For Gaussian Function Parametersmentioning

confidence: 99%

Section: B Data-driven Methods For Gaussian Function Parametersmentioning

confidence: 99%

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Robotic Laser Orientation Planning with a 3D Data-driven Method

Ma¹,

Ross²,

Codd³

2022

Preprint

Self Cite

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“…More recently, other research groups also started to investigate cognitive systems for soft tissue laser surgery, proposing similar feed-forward automatic controllers for volumetric resections during brain surgery ( Ross et al, 2018 ), and characterizing photoablation crater profiles considering a range of laser incidence angles, which can impact laser ablation models ( Ma et al, 2020 ).…”

Section: Micro-technologies and Systems For Robot-assisted Endoscopic Laser Microsurgerymentioning

confidence: 99%

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

et al. 2021

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Laser microsurgery is the current gold standard surgical technique for the treatment of selected diseases in delicate organs such as the larynx. However, the operations require large surgical expertise and dexterity, and face significant limitations imposed by available technology, such as the requirement for direct line of sight to the surgical field, restricted access, and direct manual control of the surgical instruments. To change this status quo, the European project μRALP pioneered research towards a complete redesign of current laser microsurgery systems, focusing on the development of robotic micro-technologies to enable endoscopic operations. This has fostered awareness and interest in this field, which presents a unique set of needs, requirements and constraints, leading to research and technological developments beyond μRALP and its research consortium. This paper reviews the achievements and key contributions of such research, providing an overview of the current state of the art in robot-assisted endoscopic laser microsurgery. The primary target application considered is phonomicrosurgery, which is a representative use case involving highly challenging microsurgical techniques for the treatment of glottic diseases. The paper starts by presenting the motivations and rationale for endoscopic laser microsurgery, which leads to the introduction of robotics as an enabling technology for improved surgical field accessibility, visualization and management. Then, research goals, achievements, and current state of different technologies that can build-up to an effective robotic system for endoscopic laser microsurgery are presented. This includes research in micro-robotic laser steering, flexible robotic endoscopes, augmented imaging, assistive surgeon-robot interfaces, and cognitive surgical systems. Innovations in each of these areas are shown to provide sizable progress towards more precise, safer and higher quality endoscopic laser microsurgeries. Yet, major impact is really expected from the full integration of such individual contributions into a complete clinical surgical robotic system, as illustrated in the end of this paper with a description of preliminary cadaver trials conducted with the integrated μRALP system. Overall, the contribution of this paper lays in outlining the current state of the art and open challenges in the area of robot-assisted endoscopic laser microsurgery, which has important clinical applications even beyond laryngology.

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