TY - GEN
T1 - Position sensing for surgical robots using time of flight sensor
AU - Sasaki, Tohru
AU - Tachikawa, Kaoru
AU - Murakami, Atsushi
AU - Muranaka, Akane
AU - Mir, Bilal Ahmed
AU - Terabayashi, Kenji
AU - Dohda, Kuniaki
N1 - Funding Information:
Since the spread of COVID ? 19 worldwide, information and communication technology has been accelerating in the medical field. It is easy to switch to online medical interviews, but it is difficult to go online for biological examinations and surgical procedures. Therefore, there is an increasing demand for automatic handling of living organisms in the medical and bioengineering fields. Although surgical robots, such as the da Vinci, reduces labor, it is necessary to accurately measure the position and posture of organs and blood vessels for complete automation, and such technology has not been applied to surgical robots. There are methods for creating a three ?dimensional model of an organ by measuring it beforehand using magnetic resonance imaging or computed tomography, and to reflect the information during surgery by using augmented reality and other methods. However, there is currently no technology for automatically determining the position of organs and blood vessels in real time during surgery. To automate the grasping motion of a forceps ?type manipulator used with surgical robots, we applied a time ?of ?flight, ToF, sensor to obtain the position and orientation of a blood vessel. We developed a method for detecting blood vessels from the points measured using a ToF sensor and estimating their thicknesses and directions. We evaluated the effectiveness of our method in an experiment involving a simulated blood vessel. This work was supported by JSPS KAKENHI Grant Number 19K04308.
Publisher Copyright:
© 2021 Proceedings of the 21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021. All rights reserved.
PY - 2021
Y1 - 2021
N2 - Since the spread of COVID 19 worldwide, information and communication technology has been accelerating in the medical field. It is easy to switch to online medical interviews, but it is difficult to go online for biological examinations and surgical procedures. Therefore, there is an increasing demand for automatic handling of living organisms in the medical and bioengineering fields. Although surgical robots, such as the da Vinci, reduces labor, it is necessary to accurately measure the position and posture of organs and blood vessels for complete automation, and such technology has not been applied to surgical robots. There are methods for creating a three dimensional model of an organ by measuring it beforehand using magnetic resonance imaging or computed tomography, and to reflect the information during surgery by using augmented reality and other methods. However, there is currently no technology for automatically determining the position of organs and blood vessels in real time during surgery. To automate the grasping motion of a forceps type manipulator used with surgical robots, we applied a time of flight, ToF, sensor to obtain the position and orientation of a blood vessel. We developed a method for detecting blood vessels from the points measured using a ToF sensor and estimating their thicknesses and directions. We evaluated the effectiveness of our method in an experiment involving a simulated blood vessel.
AB - Since the spread of COVID 19 worldwide, information and communication technology has been accelerating in the medical field. It is easy to switch to online medical interviews, but it is difficult to go online for biological examinations and surgical procedures. Therefore, there is an increasing demand for automatic handling of living organisms in the medical and bioengineering fields. Although surgical robots, such as the da Vinci, reduces labor, it is necessary to accurately measure the position and posture of organs and blood vessels for complete automation, and such technology has not been applied to surgical robots. There are methods for creating a three dimensional model of an organ by measuring it beforehand using magnetic resonance imaging or computed tomography, and to reflect the information during surgery by using augmented reality and other methods. However, there is currently no technology for automatically determining the position of organs and blood vessels in real time during surgery. To automate the grasping motion of a forceps type manipulator used with surgical robots, we applied a time of flight, ToF, sensor to obtain the position and orientation of a blood vessel. We developed a method for detecting blood vessels from the points measured using a ToF sensor and estimating their thicknesses and directions. We evaluated the effectiveness of our method in an experiment involving a simulated blood vessel.
KW - Information
KW - Positioning
KW - Robot
KW - Sensor
UR - http://www.scopus.com/inward/record.url?scp=85109213044&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:85109213044
T3 - Proceedings of the 21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021
SP - 233
EP - 234
BT - Proceedings of the 21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021
A2 - Leach, R. K.
A2 - Nisbet, C.
A2 - Phillips, D.
PB - euspen
T2 - 21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021
Y2 - 7 June 2021 through 10 June 2021
ER -