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Published on: June 9, 2023
Construction and verification of a safety region for brain tumor removal with a telesurgical robot system
Jongseong Jang1, Hyung Wook Kim, Young Soo Kim
1Department of Biomedical Engineering, Hanyang University , Seoul , Republic of Korea.
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.
