2) Positioning accuracy of our cable-driven flexible robotic system is improved with 3D stereo vision tracking. 1) The desired surgical task is encoded into the Behavior Tree framework. Three technical contributions are reported here. We divide semi-automated tumor ablation into six subtasks: intra operative imaging, trajectory planning, plan selection, plan execution and performance checking, as well as an optional recovery procedure if a suboptimal outcome happens during execution. The present paper represents an intermediate milestone towards this capability. Our medium term project objective aims towards a system which can detect and ablate labeled tumor material in an ex-vivo mouse brain. Our scenario assumes that the surgeon will remove the majority of the tumor manually, leaving a surgical cavity whos walls contain possibly cancerous material. (b) post-processed image of the same mouse brain ex vivo. Our experimental system consists of the Raven II™ surgical robotics research platform for positioning the treatment probe as well as a near-infrared(NIR) fluorescence-based imaging system using the 1.6mm diameter Scanning Fiber Endoscope (SFE) for detecting the tissue needing treatment ( Figure 1).ĭetection of mouse brain tumor injected with Tumor Paint in NIR fluorescence image captured by SFE: (a) standard fluorescence image of a mouse brain. Because of this image integration time, manual treatment of the fluorescently labeled material is very tedious. Because fluorescence responses of residual tumor cells can be weak, significant integration time is required for the image collection. Two posited treatment modalities are laser ablation and morcellation/ suction. Our ultimate system will scan the cavity for fluorescently labeled tissue exposed by bulk tumor removal, and automatically treat that material. ![]() ’Tumor Paint’, a molecule derived from scorpion toxin, selectively binds to brain tumor cells and fluoresces with illumination of conjugated dye. In our proposed clinical scenario, we will apply biomarkers for brain tumors, ’Tumor Paint’, developed by Dr. After the bulk of the tumor, and margins of up to 1cm, are removed, leaving a cavity, any remaining cancerous material is very dangerous. The removal fraction of brain tumors is extremely critical to the patient’s survival and long term quality of life. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous robotic surgery, (2) modeling and implementing the semi-autonomous surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and robot performance analysis. By integrating with the behavior tree framework, the whole surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper presents a semi-autonomous neurosurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. Certain level of autonomy in robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of robot: high dexterity and accuracy. Most of the tasks require surgeon’s operation directly or indirectly. Medical robots have been widely used to assist surgeons to carry out dexterous surgical tasks via various ways.
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