Marahrens, N., Jones, D. orcid.org/0000-0002-2961-8483, Murasovs, N. et al. (2 more authors) (2024) An Ultrasound-Guided System for Autonomous Marking of Tumor Boundaries During Robot-assisted Surgery. IEEE Transactions on Medical Robotics and Bionics. ISSN 2576-3202
Abstract
While only a limited number of procedures have image guidance available during robotically guided surgery, they still require the surgeon to manually reference the obtained scans to their projected location on the tissue surface. While the surgeon may mark the boundaries on the organ surface via electrosurgery, the precise margin around the tumor is likely to remain variable and not guaranteed before a pathological analysis. This paper presents a first attempt to autonomously extract and mark tumor boundaries with a specified margin on the tissue surface. It presents a first concept for tool-tissue interaction control via imu sensor fusion and contact detection from the electrical signals of the *esu, requiring no force sensing. We develop and assess our approach on us phantoms with anatomical surface geometries, comparing different strategies for projecting the tumor onto the surface and assessing its accuracy in repeated trials. Finally, we demonstrate the feasibility of translating the approach to an ex-vivo porcine liver. We achieve mean true positive rates above 0.84 and false detection rates below 0.12 compared to a tracked reference for each calculation and execution of the marking trajectory for dummy and ex-vivo experiments.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Robotic Surgery, Autonomous System, Surgical Assistance, Robotic Ultrasound |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Jul 2024 12:10 |
Last Modified: | 30 Sep 2024 10:55 |
Status: | Published online |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/TMRB.2024.3468397 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:214446 |