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Published on: January 6, 2023
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Vision Based Robot Assistance in TTTS Fetal Surgery.
Summary
This study introduces a robust vision algorithm for accurate tracking during Fetoscopic Laser Photo-coagulation (FLP) surgery for Twin-Twin Transfusion Syndrome (TTTS). The system enhances surgical precision by guiding robotic systems using placental vascular structures.
Area of Science:
- Medical Robotics
- Surgical Navigation
- Medical Imaging
Background:
- Twin-Twin Transfusion Syndrome (TTTS) requires precise surgical intervention.
- Fetoscopic Laser Photo-coagulation (FLP) is a key treatment for TTTS.
- Accurate tool-tip tracking is crucial for robotic-assisted FLP surgery.
Purpose of the Study:
- To develop an accurate and robust tracking vision algorithm for FLP surgery.
- To assist surgeons in anastomosis localization, coagulation, and review during TTTS treatment.
- To enable precise guidance of tele-operated robotic systems within the fetoscopic environment.
Main Methods:
- The algorithm utilizes local vascular structure registration for relative tool-tip positioning.
- Image features from placental surface vascular structures are used to match consecutive fetoscopic images.
- Key steps include image processing (filtering, binarization, segmentation), Point Of Interest (POI) selection, and image registration.
Main Results:
- The algorithm successfully tracks the fetoscope tool tip in real-time.
- It demonstrates accuracy in locally guiding a robot over the placenta's surface.
- The system is robust despite low-quality, blurred, and noisy fetoscopic images.
Conclusions:
- The developed vision algorithm provides accurate and robust tracking for FLP surgery in TTTS.
- It enhances surgical precision and safety in robotic-assisted procedures.
- The method offers a valuable tool for improving surgical outcomes in TTTS treatment.
