DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability

Leven, Joshua; Burschka, Darius; Kumar, Rajesh; Zhang, Gary; Blumenkranz, Steve; Dai, Xiangtian; Awad, Mike; Hager, Gregory D.; Marohn, Mike; Choti, Mike; Hasser, Christopher J.; Taylor, Russell H.

doi:10.1007/11566465_100

Cited by 91 publications

(76 citation statements)

References 24 publications

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“…We improve the state of art [1,6] for augmenting laparoscopic ultrasound images directly on the laparoscopic live images to give surgeons a better understanding of the spatial relationship between ultrasound and camera images. The laparoscopic ultrasound transducer tip is flexible.…”

Section: Resultsmentioning

confidence: 99%

“…Unfortunately LUS is often difficult to perform, especially for novice surgeons. Therefore several groups tried to support surgeons by providing navigated LUS: The position and orientation ("pose") of the ultrasound transducer is estimated using robot or optical tracking (OT) [1], electromagnetic tracking (EMT) [2][3][4][5], or magneto-optic tracking, i.e. the combination of OT and EMT [6].…”

Section: Introductionmentioning

confidence: 99%

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New approaches to online estimation of electromagnetic tracking errors for laparoscopic ultrasonography

Feuerstein

Reichl

Vogel

et al. 2008

Computer Aided Surgery

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Abstract. In abdominal surgery, a laparoscopic ultrasound transducer is commonly used to detect lesions such as metastases. The determination and visualization of position and orientation of its flexible tip in relation to the patient or other surgical instruments can be of great support for surgeons using the transducer intraoperatively. This difficult subject has recently been paid attention to by the scientific community. Electromagnetic tracking systems can be applied to track the flexible tip. However, current limitations of electromagnetic tracking are its accuracy and its sensibility, i.e. the magnetic field can be distorted by ferromagnetic material. This paper presents two novel methods for electromagnetic tracking error estimation. Based on optical tracking of the laparoscope as well as magneto-optic and visual tracking of the transducer, these methods automatically detect in 85 % of all cases, whether tracking is erroneous or not, and reduce tracking errors by up to 2.5 mm.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

New approaches to online estimation of electromagnetic tracking errors for laparoscopic ultrasonography

Feuerstein

Reichl

Vogel

et al. 2008

Computer Aided Surgery

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“…(Marescaux et al, 2004;Mutter et al, 2010;Nozaki et al, 2012;Pratt et al, 2012)) proposed manual alignment of pre-operatively and intra-operatively acquired images. The majority of (semi-) automatic approaches for registering the endoscopic image data with 3D anatomical data acquired pre-or intra-operatively are either marker-based (Baumhauer et al, 2008;Falk et al, 2005;Ieiri et al, 2011;Marvik et al, 2004;Megali et al, 2008;Mourgues et al, 2003;Simpfendorfer et al, 2011;Suzuki et al, 2008) or use external tracking devices that are initially calibrated with respect to the imaging modality (Ukimura and Gill, 2008;Konishi et al, 2007;Shekhar et al, 2010;Feuerstein et al, 2008;Konishi et al, 2007;Feuerstein et al, 2007;Leven et al, 2005;Blackall et al, 2000)). In an alternative approach, reconstructed surface data may be used to perform the registration with pre-operative models (Audette et al, 2000).…”

Section: Intra-operative Registration For Augmented Reality Guidancementioning

confidence: 99%

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Maier-Hein

Mountney

Bartoli

et al. 2013

Medical Image Analysis

234

128

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One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon's navigation capabilites by observing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted instruments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D optical imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions.

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“…To this end, the use of intracorporeal 'pick-up' ultrasound transducers [4,5,6] is becoming prevalent, where the resulting 2D scan images are automatically registered and presented in real time within the 3D surgical scene. Recent studies [4,7] have considered conventional tracking methods (e.g.…”

Section: Purposementioning

confidence: 99%

“…Recent studies [4,7] have considered conventional tracking methods (e.g. electromagnetic or optical tracking of the distal probe), but the ubiquity of ferromagnetic materials and awkward lines of sight in the operating theatre present problems that invariably hinder translation of this technology into everyday clinical practice.…”

Section: Purposementioning

confidence: 99%

Robust ultrasound probe tracking: initial clinical experiences during robot-assisted partial nephrectomy

et al. 2015

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PURPOSE:In order to assist in the identification of renal vasculature and tumour boundaries in robot-assisted partial nephrectomy, robust ultrasound probe calibration and tracking methods are introduced. Contemporaneous image guidance during these crucial stages of the procedure should ultimately lead to improved safety and quality of outcome for the patient, through reduced positive margin rates, segmental clamping, shorter ischaemic times and nephron-sparing resection. METHODS:Small KeyDot markers with circular dot patterns are attached to a miniature pick-up ultrasound probe. Generic probe calibration is superseded by a more robust scheme based on a sequence of physical transducer measurements. Motion prediction combined with a reduced region-of-interest in the endoscopic video feed facilitate real-time tracking and registration performance at full HD resolutions. RESULTS:Quantitative analysis confirms that circular dot patterns result in an improved translational and rotational working envelope, in comparison to the previous chessboard pattern implementation. Furthermore, increased robustness is observed with respect to prevailing illumination levels, and out-of-focus images due to relatively small endoscopic depths of field.CONCLUSION: Circular dot patterns should be employed in this context as they result in improved performance and robustness. This facilitates clinical usage and interpretation of the combined video and ultrasound overlay. The efficacy of the overall system is demonstrated in the first human clinical case.

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DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability

Cited by 91 publications

References 24 publications

New approaches to online estimation of electromagnetic tracking errors for laparoscopic ultrasonography

New approaches to online estimation of electromagnetic tracking errors for laparoscopic ultrasonography

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Robust ultrasound probe tracking: initial clinical experiences during robot-assisted partial nephrectomy

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