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PIATTAFORMA DI NAVIGAZIONE PER LA CHIRURGIA ROBOTICA A SINGOLA PORTA DI ACCESSO
M. Carbone , G. Turini, G. Petroni, M. Niccolini, A. Menciassi, M. Ferrari , F. Mosca , V. Ferrari
Array of Robots Augmenting the KiNematics of Endoluminal Surgery
ARAKNES robotic platform
Surgical Navigators helps orientation in the anatomy enabling:
additional virtual viewing of the patient (a virtual and “clean” map)
the view of the surgical instruments in relationship with the virtual map of the anatomy
the inspection of the surgical field from various viewpoints
additional information in the navigator monitor to guide some steps of interventions
Surgical Navigators
Surgical Navigators ‐motivation
In traditional and robotic laparoscopic surgery
Surgical Navigator can help:
To recover orientation in the anatomyTo make aware surgeon of hidden structures and vesselTo guide towards lesion…
Mini Invasive Surgery evolution towards robotic SILS
1979LAPAROSCOPIC cholecistectomy
2000da VINCI
2005NOTES
2007/2008SILS
2008…Bimanual SILS robots
IREPColumbia University
ARAKNESSSSUP
The “MAP” of the patient preoperative and/or intraoperative data
A localizer to know
where the patient is where the surgical instruments are
A registration algorithm to align preoperative data into the localizer framework
What a surgical navigator needs
ARAKNES Computer Guidance System
The “MAP” of the patient:
Patient specific 3D virtual model built through a segmentation procedure (EndoCAS Segmentation Pipeline integrated in ITK-SNAP )
Simplification to speed up computation and Colors to recover in realism
A localizer to know
where the patient is where the surgical instruments are
NDI AURORA Electromagnetic localizer
6 DOF Sensor on the robot arm
And a digitizing procedure to localize patient
ARAKNES Computer Guidance System
ARAKNES Computer Guidance System
A Registration Algorithm To determine the geometric relation between the “virtual patient” and the “real patient” and the
geometric relation between the robot workspace with the localizer workspacea point based rigid registration algorithm based on the SVD decomposition
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User Interface
SWITCH
Control PC(Inverse
Kinematic)
Extern Localizer
SPRINT Robot
Serial Communications
USB Communications
COMPUTER COMPUTER GUIDANCE GUIDANCE
MODULEMODULE
UDP datagram
ARKANES Navigator ‐ communications
ARKANES Navigator ‐ functionalities
Passive Modality
Assistive Modality
Active Modality
Passive functionalities
Assistive functionalities
This working modality is intended to allows to load the planning of the intervention so that the system can indicate to the surgeon some of the steps planned to perform the intervention
Access Port guided positioning
The software loads an oriented sphere to mark the position on the abdomen loading a file saved in the simulation phase.
Active functionalities
The thread monitors if any robot joints are too close to the indicated anatomical structures structures and in case of collision returns a visual and acoustic alarm to alert the surgeon
The surgeon during the loading phase of the anaotmy can choose some “non‐touchable” anatomical structure that the sofwtare enrole in a collision detecition thread.
The system actively contributes to the execution of the surgical procedure
STRATION QUALITY
HIGHLY DEPENDENT ON REGI
Prototype Test
Conclusions
The Computer Guidance Module showed good results in term of usability and
performance (latency, 3D environment visual quality and frame rate), whereas
the registration accuracy is acceptable (for a phantom test).
It enables the surgeon to easily navigate into the patient anatomy relying on
the virtual view offered by the system.
It offers the surgeon also assistive functionalities to facilitate the port
placement
It offers active functionalities to preserve the safety of delicate organs during
the intervention
Thanks for the Attention