Lesion positioning method of a CT‐guided surgical robotic system for minimally invasive percutaneous lung

Zhang, Tie-Feng; Fu, Zhuang; Wang, Yao; Shi, Weiyi; Chen, Guang-Biao; Fei, Jian

doi:10.1002/rcs.2044

Cited by 4 publications

(7 citation statements)

References 22 publications

(31 reference statements)

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“…Image-guided techniques include fluoroscopy, computer tomography (CT), magnetic resonance imaging (MRI), and ultrasound. Fluoroscopy 12,13 and CT 14 give satisfactory image-guidance during MIS, however they are accompanied by the exposure of the physicians and patients to ionizing radiation 12,15 . MRI does not emit radiation and provides realtime high contrast imaging modality 7 , but it operates in strong magnetic and radio-frequency fields and has a low refresh rate 16 .…”

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confidence: 99%

Design and analysis of a fiber-optic sensing system for shape reconstruction of a minimally invasive surgical needle

Issatayeva

Amantayeva

Blanc

et al. 2021

Sci Rep

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This paper presents the performance analysis of the system for real-time reconstruction of the shape of the rigid medical needle used for minimally invasive surgeries. The system is based on four optical fibers glued along the needle at 90 degrees from each other to measure distributed strain along the needle from four different sides. The distributed measurement is achieved by the interrogator which detects the light scattered from each section of the fiber connected to it and calculates the strain exposed to the fiber from the spectral shift of that backscattered light. This working principle has a limitation of discriminating only a single fiber because of the overlap of backscattering light from several fibers. In order to use four sensing fibers, the Scattering-Level Multiplexing (SLMux) methodology is applied. SLMux is based on fibers with different scattering levels: standard single-mode fibers (SMF) and MgO-nanoparticles doped fibers with a 35–40 dB higher scattering power. Doped fibers are used as sensing fibers and SMFs are used to spatially separate one sensing fiber from another by selecting appropriate lengths of SMFs. The system with four fibers allows obtaining two pairs of opposite fibers used to reconstruct the needle shape along two perpendicular axes. The performance analysis is conducted by moving the needle tip from 0 to 1 cm by 0.1 cm to four main directions (corresponding to the locations of fibers) and to four intermediate directions (between neighboring fibers). The system accuracy for small bending (0.1–0.5 cm) is 90$$\%$$ % and for large bending (0.6–1 cm) is approximately 92$$\%$$ % .

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confidence: 99%

Design and analysis of a fiber-optic sensing system for shape reconstruction of a minimally invasive surgical needle

Issatayeva

Amantayeva

Blanc

et al. 2021

Sci Rep

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“…Based on our previous work for minimally invasive percutaneous lung, as shown in Fig. 3d [54], the designed surgical robotic system was used to perform in vitro experiments and to verify the effectiveness of insertion path planning for biopsy puncture. The main technical parameters and the performance of the designed robotic surgical system are introduced in Sect.…”

Section: Insertion Path Planningmentioning

confidence: 99%

“…"Assisted robot for lung puncture". The robot design and prototype manufacturing are not described here, the details are as in the earlier study [54].…”

Section: Insertion Path Planningmentioning

confidence: 99%

“…3e). Although our previous work involving in vitro puncture experiments has been published [2,54], the necessary description is explained below for easy understanding of the readers, and also shown in Fig. 3f.…”

Section: Insertion Path Planningmentioning

confidence: 99%

“…For robot-assisted puncture, lesion positioning and needle positioning are the basis to ensure the accuracy of the puncture and are the key techniques for insertion operation. As per a report [54], a lesion positioning method based on three noncollinear markers aiming to be realized only by the robot-CT system without using an external positioning system was established. Using this lesion positioning method, the needle tip can easily reach the initial entry point, that is, the entry point of the planned insertion path.…”

Section: Insertion Path Planningmentioning

confidence: 99%

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Lung nodule pre-diagnosis and insertion path planning for chest CT images

et al. 2023

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Medical image processing has proven to be effective and feasible for assisting oncologists in diagnosing lung, thyroid, and other cancers, especially at early stage. However, there is no reliable method for the recognition, screening, classification, and detection of nodules, and even deep learning-based methods have limitations. In this study, we mainly explored the automatic pre-diagnosis of lung nodules with the aim of accurately identifying nodules in chest CT images, regardless of the benign and malignant nodules, and the insertion path planning of suspected malignant nodules, used for further diagnosis by robotic-based biopsy puncture. The overall process included lung parenchyma segmentation, classification and pre-diagnosis, 3-D reconstruction and path planning, and experimental verification. First, accurate lung parenchyma segmentation in chest CT images was achieved using digital image processing technologies, such as adaptive gray threshold, connected area labeling, and mathematical morphological boundary repair. Multi-feature weight assignment was then adopted to establish a multi-level classification criterion to complete the classification and pre-diagnosis of pulmonary nodules. Next, 3-D reconstruction of lung regions was performed using voxelization, and on its basis, a feasible local optimal insertion path with an insertion point could be found by avoiding sternums and/or key tissues in terms of the needle-inserting path. Finally, CT images of 900 patients from Lung Image Database Consortium and Image Database Resource Initiative were chosen to verify the validity of pulmonary nodule diagnosis. Our previously designed surgical robotic system and a custom thoracic model were used to validate the effectiveness of the insertion path. This work can not only assist doctors in completing the pre-diagnosis of pulmonary nodules but also provide a reference for clinical biopsy puncture of suspected malignant nodules considered by doctors.

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A fast, accurate and uncalibrated robotic puncture method

Li,

Wang,

Yan

et al. 2023

Robotics Computer Surgery

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BackgroundRobotic puncture system (RPS) consists of an optical tracking system (OTS) and a robotic arm gripping the puncture needle. Typically, the RPS requires hand‐eye calibration before the surgery in order to obtain the relative position between the OTS and the robotic arm. However, if there is any displacement or angular deviation in either the robotic arm or the OTS, the calibration results become invalid, necessitating recalibration.MethodsWe propose an uncalibrated robotic puncture method that does not rely on the hand‐eye relationship of the RPS. By constructing angle and position graph jacobian matrices respectively, and employing Square Root Cubature Kalman Filter for online estimation. This enables obtaining control variables for the robot to perform puncture operations.ResultsIn simulation experiments, our method achieves an average error of 1.3495 mm and an average time consumption of 39.331 s.ConclusionsExperimental results indicate that our method possesses high accuracy, low time consumption, and strong robustness.

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Lesion positioning method of a CT‐guided surgical robotic system for minimally invasive percutaneous lung

Cited by 4 publications

References 22 publications

Design and analysis of a fiber-optic sensing system for shape reconstruction of a minimally invasive surgical needle

Design and analysis of a fiber-optic sensing system for shape reconstruction of a minimally invasive surgical needle

Lung nodule pre-diagnosis and insertion path planning for chest CT images

A fast, accurate and uncalibrated robotic puncture method

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