Construction and verification of a safety region for brain tumor removal with a telesurgical robot system
- Title
- Construction and verification of a safety region for brain tumor removal with a telesurgical robot system
- Author
- 장종성
- Keywords
- Minimally invasive brain surgery; telesurgery; safety region; collision detection.
- Issue Date
- 2014-12
- Publisher
- Informa Healthcare
- Citation
- MINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES,권: 23 호: 6 페이지: 333-340
- Abstract
- Background: 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. Material and methods: 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. Results: 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. Conclusion: The experimental result shows that our method can contribute toward safe brain tumor removal with robotic surgery.
- URI
- https://www.tandfonline.com/doi/abs/10.3109/13645706.2014.925929https://repository.hanyang.ac.kr/handle/20.500.11754/73353
- ISSN
- 1364-5706
- DOI
- 10.3109/13645706.2014.925929
- Appears in Collections:
- RESEARCH INSTITUTE[S](부설연구소) > ETC
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