Construction and verification of a safety region for brain tumor removal with a telesurgical robot system
- Authors
- Jang, Jongseong; Kim, Hyung Wook; Kim, Young Soo
- Issue Date
- Dec-2014
- Publisher
- TAYLOR & FRANCIS LTD
- Keywords
- Minimally invasive brain surgery; telesurgery; safety region; collision detection
- Citation
- MINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES, v.23, no.6, pp.333 - 340
- Indexed
- SCIE
SCOPUS
- Journal Title
- MINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES
- Volume
- 23
- Number
- 6
- Start Page
- 333
- End Page
- 340
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158461
- DOI
- 10.3109/13645706.2014.925929
- ISSN
- 1364-5706
- 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.
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