Robotic Research Platform For Image-Guided Surgery Assistance

Authors: Camilo A. Cortés; Iñigo Barandiaran; Oscar E. Ruiz; Alessandro De Mauro

Date: 13.02.2013


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Abstract

In the context of surgery, it is very common to face  challenging scenarios during the preoperative plan  implementation. The surgical technique's complexity, the  human anatomical variability and the occurrence of  unexpected situations generate issues for the  intervention's goals achievement.  To support the surgeon, robotic systems are being  integrated to the operating room. However, current  commercial solutions are specialized for a particular  technique or medical application, being difficult to  integrate with other systems. Thus, versatile and modular  systems are needed to conduct several procedures and to  help solving the problems that surgeons face.  This article aims to describe the implementation of a  robotic research platform prototype that allows novel  applications in the field of image-guided surgery. In  particular, this research is focused on the topics of  medical image acquisition during surgery, patient  registration and surgical/medical equipment operation.  In this paper, we address the implementation of the  general purpose teleoperation and path following modes  of the platform, which constitute the base of future  developments. Also, we discuss relevant aspects of the  system, as well as future directions and application fields  to investigate.

BIB_text

@Article {
author = {Camilo A. Cortés; Iñigo Barandiaran; Oscar E. Ruiz; Alessandro De Mauro},
title = {Robotic Research Platform For Image-Guided Surgery Assistance},
pages = {427-434},
keywds = {

robotic surgery, master-slave systems, teleoperation, image-guided surgery


}
abstract = {

In the context of surgery, it is very common to face  challenging scenarios during the preoperative plan  implementation. The surgical technique's complexity, the  human anatomical variability and the occurrence of  unexpected situations generate issues for the  intervention's goals achievement.  To support the surgeon, robotic systems are being  integrated to the operating room. However, current  commercial solutions are specialized for a particular  technique or medical application, being difficult to  integrate with other systems. Thus, versatile and modular  systems are needed to conduct several procedures and to  help solving the problems that surgeons face.  This article aims to describe the implementation of a  robotic research platform prototype that allows novel  applications in the field of image-guided surgery. In  particular, this research is focused on the topics of  medical image acquisition during surgery, patient  registration and surgical/medical equipment operation.  In this paper, we address the implementation of the  general purpose teleoperation and path following modes  of the platform, which constitute the base of future  developments. Also, we discuss relevant aspects of the  system, as well as future directions and application fields  to investigate.


}
isbn = {978-0-88986-942-4},
isi = {1},
date = {2013-02-13},
year = {2013},
}
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