Details
| Original language | English |
|---|---|
| Article number | 8777169 |
| Pages (from-to) | 145-157 |
| Number of pages | 13 |
| Journal | IEEE Transactions on Medical Robotics and Bionics |
| Volume | 1 |
| Issue number | 3 |
| Publication status | Published - 26 Jul 2019 |
Abstract
In the last decade, focused laser radiation has become an alternative instrumentation for soft tissue surgery due to precise ablation with simultaneous coagulation. However, adjustment of the focal position with respect to the tissue surface is crucial for optimal energy input and minimised trauma. Advantageous laser delivery without tissue contact poses challenges and demands for assistance. This contribution introduces three novel concepts for user assistance during focal adaptation in noncontact laser surgery with robotic teleoperation. Visual, haptic, and visuo-haptic feedback modalities are designed based on real-time scene reconstruction and laser-to-camera registration. The performance of proposed methods was assessed in a phantom study with positioning tasks under different assistance conditions using a teleoperated extensible continuum robot. Focal position error and task execution time were selected as performance metrics. In total, 15 subjects conducted trials under four different conditions ( N=240 ). A mean error reduction from 1.2 mm for nonassisted to 0.25 mm for visuo-haptic feedback was revealed and error outliers were eliminated efficiently. Mean execution times of below 13 s were achieved for applied conditions. Presented work decreased the error to one-fifth in comparison to absence of assistance in teleoperation. The results strongly motivate prospective integration to surgical devices for noncontact laser delivery.
Keywords
- Laser ablation, augmented reality, continuum robot, haptic cues, user assistance, user study, visual feedback
ASJC Scopus subject areas
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Human-Computer Interaction
- Mathematics(all)
- Control and Optimization
- Engineering(all)
- Biomedical Engineering
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: IEEE Transactions on Medical Robotics and Bionics, Vol. 1, No. 3, 8777169, 26.07.2019, p. 145-157.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Toward Assistive Technologies for Focus Adjustment in Teleoperated Robotic Non-Contact Laser Surgery
AU - Kundrat, Dennis
AU - Schoob, Andreas
AU - Piskon, Thomas
AU - Grässlin, René
AU - Schuler, Patrick J.
AU - Hoffmann, Thomas K.
AU - Kahrs, Luder A.
AU - Ortmaier, Tobias
PY - 2019/7/26
Y1 - 2019/7/26
N2 - In the last decade, focused laser radiation has become an alternative instrumentation for soft tissue surgery due to precise ablation with simultaneous coagulation. However, adjustment of the focal position with respect to the tissue surface is crucial for optimal energy input and minimised trauma. Advantageous laser delivery without tissue contact poses challenges and demands for assistance. This contribution introduces three novel concepts for user assistance during focal adaptation in noncontact laser surgery with robotic teleoperation. Visual, haptic, and visuo-haptic feedback modalities are designed based on real-time scene reconstruction and laser-to-camera registration. The performance of proposed methods was assessed in a phantom study with positioning tasks under different assistance conditions using a teleoperated extensible continuum robot. Focal position error and task execution time were selected as performance metrics. In total, 15 subjects conducted trials under four different conditions ( N=240 ). A mean error reduction from 1.2 mm for nonassisted to 0.25 mm for visuo-haptic feedback was revealed and error outliers were eliminated efficiently. Mean execution times of below 13 s were achieved for applied conditions. Presented work decreased the error to one-fifth in comparison to absence of assistance in teleoperation. The results strongly motivate prospective integration to surgical devices for noncontact laser delivery.
AB - In the last decade, focused laser radiation has become an alternative instrumentation for soft tissue surgery due to precise ablation with simultaneous coagulation. However, adjustment of the focal position with respect to the tissue surface is crucial for optimal energy input and minimised trauma. Advantageous laser delivery without tissue contact poses challenges and demands for assistance. This contribution introduces three novel concepts for user assistance during focal adaptation in noncontact laser surgery with robotic teleoperation. Visual, haptic, and visuo-haptic feedback modalities are designed based on real-time scene reconstruction and laser-to-camera registration. The performance of proposed methods was assessed in a phantom study with positioning tasks under different assistance conditions using a teleoperated extensible continuum robot. Focal position error and task execution time were selected as performance metrics. In total, 15 subjects conducted trials under four different conditions ( N=240 ). A mean error reduction from 1.2 mm for nonassisted to 0.25 mm for visuo-haptic feedback was revealed and error outliers were eliminated efficiently. Mean execution times of below 13 s were achieved for applied conditions. Presented work decreased the error to one-fifth in comparison to absence of assistance in teleoperation. The results strongly motivate prospective integration to surgical devices for noncontact laser delivery.
KW - Laser ablation
KW - augmented reality
KW - continuum robot
KW - haptic cues
KW - user assistance
KW - user study
KW - visual feedback
UR - http://www.scopus.com/inward/record.url?scp=85079823214&partnerID=8YFLogxK
U2 - 10.1109/tmrb.2019.2931438
DO - 10.1109/tmrb.2019.2931438
M3 - Article
VL - 1
SP - 145
EP - 157
JO - IEEE Transactions on Medical Robotics and Bionics
JF - IEEE Transactions on Medical Robotics and Bionics
SN - 2576-3202
IS - 3
M1 - 8777169
ER -