ArticleJournal of medical imaging (Bellingham, Wash.)2014
Accurate three-dimensional virtual reconstruction of surgical field using calibrated trajectories of an image-guided medical robot.
Article in Journal of medical imaging (Bellingham, Wash.), 2014. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
9 citing papers in PubMed, 14 citations in OpenAlex.
- Semi-autonomous image-guided brain tumour resection using an integrated robotic system: A bench-top study.The international journal of medical robotics + computer assisted surgery : MRCAS · 2018Article
- Run-to-Run Optimization Control Within Exact Inverse Framework for Scan Tracking.Journal of dynamic systems, measurement, and control · 2017Article
- Three-dimensional measurement of small inner surface profiles using feature-based 3-D panoramic registration.Optical engineering (Redondo Beach, Calif.) · 2017Article
- Feature-based three-dimensional registration for repetitive geometry in machine vision.Journal of information technology & software engineering · 2016Article
- Semi-autonomous Simulated Brain Tumor Ablation with RavenII Surgical Robot using Behavior Tree.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2015Article
- Bound constrained bundle adjustment for reliable 3D reconstruction.Optics express · 2015Article
- Path Planning for Semi-automated Simulated Robotic Neurosurgery.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and SystemsArticle
- Axial-Stereo 3-D Optical Metrology for Inner Profile of Pipes Using a Scanning Laser Endoscope.International journal of optomechatronicsArticle
- Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model.Proceedings of SPIE--the International Society for Optical EngineeringArticle
Corrections and comments
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Authors and funding
4 authors at 1 institution in 1 country.
Funding
Abstract
Brain tumor margin removal is challenging because diseased tissue is often visually indistinguishable from healthy tissue. Leaving residual tumor leads to decreased survival, and removing normal tissue causes life-long neurological deficits. Thus, a surgical robotics system with a high degree of dexterity, accurate navigation, and highly precise resection is an ideal candidate for image-guided removal of fluorescently labeled brain tumor cells. To image, we developed a scanning fiber endoscope (SFE) which acquires concurrent reflectance and fluorescence wide-field images at a high resolution. This miniature flexible endoscope was affixed to the arm of a RAVEN II surgical robot providing programmable motion with feedback control using stereo-pair surveillance cameras. To verify the accuracy of the three-dimensional (3-D) reconstructed surgical field, a multimodal physical-sized model of debulked brain tumor was used to obtain the 3-D locations of residual tumor for robotic path planning to remove fluorescent cells. Such reconstruction is repeated intraoperatively during margin clean-up so the algorithm efficiency and accuracy are important to the robotically assisted surgery. Experimental results indicate that the time for creating this 3-D surface can be reduced to one-third by using known trajectories of a robot arm, and the error from the reconstructed phantom is within 0.67 mm in average compared to the model design.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.