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A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

   Surgical quality in phonomicrosurgery can be improved by open-loop laser control (e.g., high-speed scanning capabilities) with a robust and accurate closed-loop visual servoing systems. A new vision-based system for laser scanning control during robot-assisted phonomicrosurgery was developed and tested.

Methods

   Laser scanning was accomplished with a dual control strategy, which adds a vision-based trajectory correction phase to a fast open-loop laser controller. The system is designed to eliminate open-loop aiming errors caused by system calibration limitations and by the unpredictable topology of real targets. Evaluation of the new system was performed using \(\hbox {CO}_{2}\) laser cutting trials on artificial targets and ex-vivo tissue.

Results

   This system produced accuracy values corresponding to pixel resolution even when smoke created by the laser-target interaction clutters the camera view. In realistic test scenarios, trajectory following RMS errors were reduced by almost 80 % with respect to open-loop system performances, reaching mean error values around 30 \(\upmu \)m and maximum observed errors in the order of 60 \(\upmu \)m.

Conclusion

   A new vision-based laser microsurgical control system was shown to be effective and promising with significant positive potential impact on the safety and quality of laser microsurgeries.

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Acknowledgments

The research has received funding from the European Union Seventh Framework Programme FP7/2007-2013—Challenge 2—Cognitive Systems, Interaction, Robotics—under grant agreement \(\mu \)RALP—no. 288233. The authors would like to thank Giorgio Peretti, Luca Guastini and Francesco Mora, ENT surgeons from University of Genoa, for precious discussions and information on laser microsurgeries.

Conflict of interest

Giulio Dagnino, Leonardo S. Mattos, and Darwin G. Caldwell declare that they have no conflict of interest.Ethical standard    An approval by an ethics committee was not applicable. Animal tissue used on the trials was purchased from a supermarket. Informed consent   Statement of informed consent was not applicable since the manuscript does not contain any patient data.

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Author notes

  1. Giulio Dagnino

    Present address: Bristol Robotics Laboratory, University of the West of England, Bristol, UK

Authors and Affiliations

  1. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy

    Giulio Dagnino

  2. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 , Genoa, Italy

    Leonardo S. Mattos & Darwin G. Caldwell

Authors
  1. Giulio Dagnino
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  2. Leonardo S. Mattos
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  3. Darwin G. Caldwell
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Corresponding author

Correspondence to Leonardo S. Mattos.

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Dagnino, G., Mattos, L.S. & Caldwell, D.G. A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery. Int J CARS 10, 217–229 (2015). https://doi.org/10.1007/s11548-014-1078-9

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  • DOI: https://doi.org/10.1007/s11548-014-1078-9

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