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Autonomous pick-and-place using the dVRK.

Claudia D'Ettorre1, Agostino Stilli2, George Dwyer2

  • 1Department of Computer Science, Wellcome/EPSRC Centre for International and Surgical Sciences (WEISS), University College London, London, W1W 7EJ, UK. c.dettorre@ucl.ac.uk.

International Journal of Computer Assisted Radiology and Surgery
|May 15, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a semi-autonomous ultrasound system for robotic kidney surgery, improving workflow efficiency. The new system reduces the time for ultrasound scans during robotic-assisted partial nephrectomy, enhancing surgical procedures.

Keywords:
Computer-assisted interventionsMotion planningRobotic surgerySurgical automation

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Area of Science:

  • Robotics
  • Medical Imaging
  • Surgical Technology

Background:

  • Robotic-assisted partial nephrectomy (RAPN) utilizes ultrasound (US) for tumor margin and vessel identification.
  • Current methods require surgeons to manually co-register separate US images with the surgical view, complicating workflow.

Purpose of the Study:

  • To develop and evaluate a novel software and hardware system for automated intra-operative ultrasound acquisition in RAPN.
  • To enhance the workflow and efficiency of US imaging during robotic kidney surgery.

Main Methods:

  • Introduction of a software architecture and a soft robotic rail for automated US probe positioning.
  • Preliminary step towards full automation: automated rail grasping and tissue positioning for surgeon-guided probe manipulation.

Main Results:

  • A preliminary clinical study with five surgeons evaluated the system's performance.
  • The semi-autonomous approach significantly reduced the time required for US scanning compared to manual tele-operation.

Conclusions:

  • Procedural automation offers significant workflow enhancements for future robotic surgery systems.
  • This preliminary study demonstrates the potential of semi-autonomous US imaging for more efficient data acquisition in robotic surgery.