Robotic Compensation of Biological Motion to Enhance Surgical Accuracy

Riviere, Cameron N.; Gangloff, Jacques; Mathelin, Michel de

doi:10.1109/jproc.2006.880722

Cited by 103 publications

(58 citation statements)

References 37 publications

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“…The problem is avoided by the low pass filter at 1.5 Hz cut-off on F Vcmd . Such a low-pass filter also allows the cancelling of physiological tremor, which has typical frequency content from 10 to 30 Hz and amplitude of 100 µm RMS (33). The delay caused by filtering (500 ms) satisfies the requirements of the application since it allows probe advancement to be stopped within 1.3 mm (at 1.1 mm/s), if operator reaction time is 0.7 s, as reported in (34).…”

Section: Discussionmentioning

confidence: 97%

Force feedback in a piezoelectric linear actuator for neurosurgery

Lorenzo

Momi

Dyagilev

et al. 2011

Robotics Computer Surgery

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Section: Discussionmentioning

confidence: 97%

Force feedback in a piezoelectric linear actuator for neurosurgery

Lorenzo

Momi

Dyagilev

et al. 2011

Robotics Computer Surgery

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“…The 2Hz low-pass filter on the force signal allows avoiding the surgeon to introduce instability in the outer loop and cancelling physiological tremor which has typical frequency content from 10 to 30Hz [20]. The surgeon can therefore benefit of the force sensation during the probe advancement into the brain tissue.…”

Section: Discussionmentioning

confidence: 99%

Miniaturized rigid probe driver with haptic loop control for neurosurgical interventions

Lorenzo

Manganelli

Dyagilev

et al. 2010

2010 3rd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

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“…Deformation resulting from cardiac and respiratory cycles can be modeled as quasi-periodic or periodic signals [47]. Respiration during MIS is usually regulated by a ventilator, creating an asymmetric periodic signal with an extended exhale phase.…”

Section: Tissue Morphology Modelingmentioning

confidence: 99%

Three-Dimensional Tissue Deformation Recovery and Tracking

Mountney

Stoyanov

Yang

2010

IEEE Signal Process. Mag.

165

111

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Recent advances in surgical robotics have provided a platform for extending the current capabilities of minimally invasive surgery by incorporating both pre-operative and intra-operative imaging data. In this tutorial paper, we introduce techniques for in vivo 3D tissue deformation recovery and tracking, based on laparoscopic or endoscopic images. These optically based techniques provide a unique opportunity for recovering surface deformation of the softtissue without the need of additional instrumentation. They can therefore be easily incorporated into the existing surgical workflow. Technically, the problem formulation is challenging due to non-rigid deformation of the tissue and instrument interaction. Current approaches and future research directions in terms of intra-operative planning and adaptive surgical navigation are explained in detail.Index Terms-image-guidance, robotic assisted minimally invasive surgery, 3D deformation recovery.

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Robotic Compensation of Biological Motion to Enhance Surgical Accuracy

Cited by 103 publications

References 37 publications

Force feedback in a piezoelectric linear actuator for neurosurgery

Force feedback in a piezoelectric linear actuator for neurosurgery

Miniaturized rigid probe driver with haptic loop control for neurosurgical interventions

Three-Dimensional Tissue Deformation Recovery and Tracking

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