PDF(Pubmed)
Abstract：
Surgical resection is the current clinical standard of care for treating squamous cell carcinoma. Maintaining an adequate tumor resection margin is the key to a good surgical outcome, but tumor edge delineation errors are inevitable with manual surgery due to difficulty in visualization and hand-eye coordination. Surgical automation is a growing field of robotics to relieve surgeon burdens and to achieve a consistent and potentially better surgical outcome. This paper reports a novel robotic supervised autonomous electrosurgery technique for soft tissue resection achieving millimeter accuracy. The tumor resection procedure is decomposed to the subtask level for a more direct understanding and automation. A 4-DOF suction system is developed, and integrated with a 6-DOF electrocautery robot to perform resection experiments. A novel near-infrared fluorescent marker is manually dispensed on cadaver samples to define a pseudotumor, and intraoperatively tracked using a dual-camera system. The autonomous dual-robot resection cooperation workflow is proposed and evaluated in this study. The integrated system achieves autonomous localization of the pseudotumor by tracking the near-infrared marker, and performs supervised autonomous resection in cadaver porcine tongues (N=3). The three pseudotumors were successfully removed from porcine samples. The evaluated average surface and depth resection errors are 1.19 and 1.83mm, respectively. This work is an essential step towards autonomous tumor resections.
摘要：
手术切除是目前治疗鳞状细胞癌的临床标准。保持足够的肿瘤切除边缘是良好手术效果的关键，但是由于可视化和手眼协调方面的困难，在手动手术中，肿瘤边缘勾画错误是不可避免的。手术自动化是机器人技术的一个不断发展的领域，以减轻外科医生的负担并实现一致且可能更好的手术结果。本文报告了一种新颖的机器人监督式自主电外科技术，用于软组织切除，可实现毫米精度。肿瘤切除程序被分解到子任务级别，以便更直接地理解和自动化。开发了一种四自由度抽吸系统，并与6自由度电灼机器人集成进行切除实验。一种新型的近红外荧光标记被手动分配在尸体样本上，以定义假瘤，并使用双摄像头系统进行术中跟踪。本研究提出并评估了自主双机器人切除协作工作流程。该集成系统通过跟踪近红外标记来实现伪瘤的自主定位,并对尸体猪舌头进行监督式自主切除（N=3）。成功地从猪样品中去除三个假瘤。评估的平均表面和深度切除误差为1.19和1.83mm，分别。这项工作是迈向自主肿瘤切除的重要一步。
