Laser Incision Depth Control in Robot-Assisted Soft Tissue Microsurgery

Acemoğlu, Alperen; Fichera, Loris; Kepiro, Ibolya E.; Caldwell, Darwin G.; Mattos, Leonardo S.

doi:10.1142/s2424905x17400062

Cited by 13 publications

(15 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(Fichera et al, 2015b). Finally, these controllers were extended to allow regulating the laser energy density along incision paths, demonstrating that target depths could be achieved within ±60 µm error range (Acemoglu et al, 2017).…”

Section: Cognitive Surgical Systems For Endoscopic Laser Microsurgerymentioning

confidence: 99%

“…This model was then used in a robotic laser microsurgery system to enable both autonomous laser incision depth control along cutting trajectories and autonomous ablation of tissue volumes based on feed-forward control strategies ( Fichera et al, 2015b ). Finally, these controllers were extended to allow regulating the laser energy density along incision paths, demonstrating that target depths could be achieved within ±60 µm error range ( Acemoglu et al, 2017 ).…”

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

confidence: 99%

See 1 more Smart Citation

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

et al. 2021

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Cognitive Surgical Systems For Endoscopic Laser Microsurgerymentioning

confidence: 99%

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

Self Cite

View full text Add to dashboard Cite

show abstract

“…The current trend in the development of laser medicine is the creation and application of smart laser medical systems for performing low-trauma high-precision operations [1][2][3][4]. The key problem of creating such systems is the organization of feedback, which would allow in real time not only visualization of and remote manipulation in the operating eld (which is quite achievable by existing modern methods of receiving and transmitting images and corresponding technical devices), but also acquisition of objective information about the course of the surgical process and making automated decision on changes of the operation conditions.…”

Section: Introductionmentioning

confidence: 99%

Extraction of the Information Component of the Autodyne Signal in Pulsed-periodic CO<sub>2</sub> Lasers for Doppler Diagnostics of the Surgical Process

Коновалов

Ul’yanov

2021

ABE

View full text Add to dashboard Cite

The creation of laser surgical systems with feedback, which allows performance of high-precision low-trauma operations, is the current trend of modern surgery. CO 2 lasers with pulse-periodic pumping which generate radiation at a wavelength of 10.6 µm and modulated at a frequency of 5-20 kHz are widely used in medical practice. This paper reports the possibility of creating feedback based on the autodyne effect that occurs in such surgical CO 2 lasers during laser dissection/evaporation of biotissues. The algorithm for extracting the information component (Doppler signal) of the autodyne signal for such CO 2 lasers has been developed. We showed that application of this algorithm permits extraction of the Doppler component spectrum in the autodyne signal that occurs when dissecting biotissues. Doppler signals were obtained when dissecting pig tissues in vitro, with a signal-to-noise ratio in the range of 5-15. The results obtained can be used in the development of smart laser surgical systems with feedback.

show abstract

“…The passive joint was locked by pressing the lock trigger button after manually changing the relevant position, showing the lock pressure and monitoring the pressure and joint angle in real-time. The angle of the RCM mechanism was adjusted to different rooms [3][4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Control System of the Remote-controlled Surgical Robot for Guiding Puncture Needle

Guo¹,

Zhao²,

Liu³

et al. 2020

dtetr

View full text Add to dashboard Cite

The mechanical arm for needle guidance consists of puncture link, RCM angle adjustment, and passive adjustment of mechanism position. The position of the passive mechanism was locked by manual adjustment, which requires certain locking moment, and the precision can reach 1 mm. In the process of angle adjustment of RCM, it was required that each joint should have an adjustment range of (+) 45 degrees and an adjustment accuracy of 0.5 degrees. Puncture requires high initial acceleration to penetrate human skin tissue. In this paper, the control system of the manipulator was studied.

show abstract

Laser Incision Depth Control in Robot-Assisted Soft Tissue Microsurgery

Cited by 13 publications

References 25 publications

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

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

Extraction of the Information Component of the Autodyne Signal in Pulsed-periodic CO<sub>2</sub> Lasers for Doppler Diagnostics of the Surgical Process

Control System of the Remote-controlled Surgical Robot for Guiding Puncture Needle

Contact Info

Product

Resources

About