Visual servoing of a laser ablation based cochleostomy

Kahrs, Lüder A.; Raczkowsky, Jörg; Werner, Martin; Knapp, Felix; Mehrwald, M.; Hering, P.; Schipper, Jörg; Klenzner, Thomas; Wörn, Heinz

doi:10.1117/12.770863

Cited by 14 publications

(17 citation statements)

References 18 publications

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“…The real depth till the lining membrane of the cochlea (endost) is reached is different for every specimen (patient). While the above-mentioned stopping layer defined by visual control is not reached, the depth will be replicated [21].…”

Section: Methodsmentioning

confidence: 99%

“…In our laser cochleostomy experiments [19][20][21], we used an ablation diameter of 1.2 mm. The ablation depth for the simulation is temporarily set to 1 mm.…”

Section: Methodsmentioning

confidence: 99%

“…Microscope images of the intervention area are utilized to influence the positions of laser ablation pulses in order to preserve the endost. Image processing algorithms assist the surgeon detecting this structure in teleoperated mode or closed loop visual control [21]. During the semi-automatic teleoperated mode it is the surgeon's choice which region(s) out of the complete video surveillance area should be not ablated.…”

Section: Introductionmentioning

confidence: 99%

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Planning and simulation of microsurgical laser bone ablation

et al. 2009

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Purpose Laser ablation of hard tissue is not completely understood until now and not modeled for computer-assisted microsurgery. A precise planning and simulation is an essential step toward the usage of microsurgical laser bone ablation in the operating room. Methods Planning the volume for laser bone ablation is based on geometrical definitions. Shape and volume of the removed bone by single laser pulses were measured with a confocal microscope for modeling the microsurgical ablation. To remove the planned volume and to achieve smooth surfaces, a simulation of the laser pulse distribution is developed.A talk and a proceedings contribution with the German title Planung und Simulation von mikrochirurgischer Laserknochenablation [1] was presented at curac.08 in Leipzig, Germany. ResultsThe confocal measurements show a clear dependency from laser energy and resulting depth. Twodimensional Gaussian functions are fitting in these craters. Exemplarily three ablation layers were planned, simulated, executed and verified. Conclusions To model laser bone ablation in microsurgery the volume and shape of each laser pulse should be known and considered in the process of ablation planning and simulation.

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Section: Methodsmentioning

confidence: 99%

“…In our laser cochleostomy experiments [19][20][21], we used an ablation diameter of 1.2 mm. The ablation depth for the simulation is temporarily set to 1 mm.…”

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Planning and simulation of microsurgical laser bone ablation

et al. 2009

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“…To perform the cochleostomy without penetration of the endosteal membrane, force sensing drill guides [17] or laserbased procedures [18,19] are subject of current research.…”

Section: Computer and Mechatronic Assistance In Cochlear Implant Surgerymentioning

confidence: 99%

An automated insertion tool for cochlear implants: another step towards atraumatic cochlear implant surgery

et al. 2009

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“…For several years different research groups have tried to implement additional sensory information to overcome this problem. 5,6,7 In this context, optical coherence tomography (OCT) illustrates promising potential, not only regarding its high resolution of only a few micrometers, but also because of its capability of analyzing subcutaneous structures. 8 In this paper, we present algorithms and experimental results for our prototype 9 demonstrating closed-loop control of laser bone ablation using OCT data.…”

Section: Introductionmentioning

confidence: 99%

Fast and automatic depth control of iterative bone ablation based on optical coherence tomography data

Fuchs

Pengel

Bergmeier

et al. 2015

Medical Laser Applications and Laser-Tissue Interactions VII

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Laser surgery is an established clinical procedure in dental applications, soft tissue ablation, and ophthalmology. The presented experimental set-up for closed-loop control of laser bone ablation addresses a feedback system and enables safe ablation towards anatomical structures that usually would have high risk of damage.This study is based on combined working volumes of optical coherence tomography (OCT) and Er:YAG cutting laser. High level of automation in fast image data processing and tissue treatment enables reproducible results and shortens the time in the operating room. For registration of the two coordinate systems a cross-like incision is ablated with the Er:YAG laser and segmented with OCT in three distances. The resulting Er:YAG coordinate system is reconstructed. A parameter list defines multiple sets of laser parameters including discrete and specific ablation rates as ablation model. The control algorithm uses this model to plan corrective laser paths for each set of laser parameters and dynamically adapts the distance of the laser focus. With this iterative control cycle consisting of image processing, path planning, ablation, and moistening of tissue the target geometry and desired depth are approximated until no further corrective laser paths can be set. The achieved depth stays within the tolerances of the parameter set with the smallest ablation rate. Specimen trials with fresh porcine bone have been conducted to prove the functionality of the developed concept. Flat bottom surfaces and sharp edges of the outline without visual signs of thermal damage verify the feasibility of automated, OCT controlled laser bone ablation with minimal process time.

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Visual servoing of a laser ablation based cochleostomy

Cited by 14 publications

References 18 publications

Planning and simulation of microsurgical laser bone ablation

Planning and simulation of microsurgical laser bone ablation

An automated insertion tool for cochlear implants: another step towards atraumatic cochlear implant surgery

Fast and automatic depth control of iterative bone ablation based on optical coherence tomography data

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