Jang Jongseong, Kim Hyung Wook, Kim Young Soo
Department of Biomedical Engineering, Hanyang University , Seoul , Republic of Korea.
Minim Invasive Ther Allied Technol. 2014 Dec;23(6):333-40. doi: 10.3109/13645706.2014.925929. Epub 2014 Oct 27.
The authors propose and verify a method for the construction of a safety region for minimally invasive brain tumor removal. The safety region is constructed to avoid damaging normal tissues through the movement of a robotic instrument during brain tumor surgery using a telesurgical robotic system and a small port.
3 D boundaries of a tumor and a port were generated as a critical wall to avoid invading normal tissues through an image processing algorithm with consideration of a safe margin. Then, fast collision detection between the boundary and the robotic instrument was continuously performed to monitor the movement of the robotic instrument.
An experiment was conducted using the prototype of a telesurgical robot system and a hemispherical phantom. A 3 D boundary was generated from the CT images of the phantom with a safe margin of 2.76 mm. The robotic instrument did not penetrate the boundary.
The experimental result shows that our method can contribute toward safe brain tumor removal with robotic surgery.
作者提出并验证了一种用于构建微创脑肿瘤切除安全区域的方法。构建该安全区域是为了在使用远程手术机器人系统和小端口进行脑肿瘤手术期间，避免机器人器械的移动对正常组织造成损伤。
通过考虑安全边界的图像处理算法，生成肿瘤和端口的三维边界作为关键壁，以避免侵入正常组织。然后，持续对边界与机器人器械之间进行快速碰撞检测，以监测机器人器械的移动。
使用远程手术机器人系统原型和半球形模型进行了一项实验。从模型的CT图像生成了三维边界，安全边界为2.76毫米。机器人器械未穿透边界。
实验结果表明，我们的方法有助于通过机器人手术安全地切除脑肿瘤。
