Skip to main content

Advertisement

SpringerLink
Log in

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

  • Original Article
  • Published:
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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10

Similar content being viewed by others

References

  1. Zeitels SM (2001) Atlas of phonomicrosurgery and other endolaryngeal procedures for benign and malignant disease. Singular, San Diego

    Google Scholar 

  2. Giallo JF (2008) A medical robotic system for laser phonomicrosurgery, PhD Dissertation, North Carolina State University, Raleigh, NC, USA

  3. Remacle M, Eckel HE (2010) Surgery of larynx and trachea. Springer, Berlin

    Book  Google Scholar 

  4. Bless DM, Abbs JH (1983) Vocal fold physiology: contemporary research and clinical issues. College-Hill Press, San Diego

    Google Scholar 

  5. Garrett CG, Ossoff RH (2000) Phonomicrosurgery II: surgical techniques. Otolaryngol Clin N Am 33(5):1063–1070

    Article  CAS  Google Scholar 

  6. McWhorter A, Hoffman H (2005) Transoral laser microsurgery for laryngeal malignancies. Curr Probl Cancer 29(4):180–189

    Article  PubMed  Google Scholar 

  7. Oswal V, Remacle M (2002) Principles and practice in otorhinolaryngology and head and neck surgery. Kugler Publications, The Hague

    Google Scholar 

  8. Chawla S, Carney AS (2009) Organ preservation surgery for laryngeal cancer. Head Neck Oncol 1:12. doi:10.1186/1758-3284-1-12

  9. Lanfranco AR, Castellanos AE, Desai JP, Meyer WC (2004) Robotic surgery: a current perspective. Ann Surg 239(1):14–21

    Article  PubMed Central  PubMed  Google Scholar 

  10. Berlinger NT (2006) Robotic surgery—squeezing into tight places. N Engl J Med 354:2009–2101

    Article  Google Scholar 

  11. Mattos L, Dellepiane M, Caldwell D (2011) Next-generation micromanipulator for computer-assisted laser phonomicrosurgery. In: Proceedings of the 2011 international conference of the IEEE engineering in medicine and biology society, EMBC 2011

  12. Mattos L, Dagnino G, Becattini G, Dellepiane M, Caldwell D (2011) A virtual scalpel system for computer-assisted laser microsurgery. In: Proceedings of the IEEE international conference on intelligent robots and systems, IROS 2011

  13. Dagnino G, Mattos LS, Becattini G, Dellepiane M, Caldwell DG (2011) Comparative evaluation of user interfaces for robot-assisted laser phonomicrosurgery. In: Proceedings of the 2011 international conference of the IEEE engineering in medicine and biology society, EMBC 2011

  14. Mattos LS, Caldwell DG (2012) Safe teleoperation based on flexible intraoperative planning for robot-assisted laser microsurgery. In: Proceedings of the 34th annual international conference of the IEEE engineering in medicine and biology society, EMBC 2012, San Diego, CA, USA

  15. Krupa A, Doignon C, de Mathelin MF, Morel G, Leroy J, Soler L, Marescaux J (2003) Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing. IEEE Trans Robot Autom 19(5):842–853

  16. Hynes P, Dodds G, Wilkinson A (2006) Uncalibrated visual-servoing of a dual-arm robot for MIS suturing. In: The first IEEE/RAS-EMBS international conference on biomedical robotics and biomechatronics

  17. Becker BC, Voros S, MacLachlan RA, Hager GD, Riviere CN (2009) Active guidance of a handheld micromanipulator using visual servoing. In: Proceedings of the IEEE international conference on robotics and automation, ICRA 2009, Kobe, Japan

  18. Knoll A, Staub C, Osa T, Bauernschmitt R (2010) Autonomous high precision positioning of surgical instruments in robot-assisted minimally invasive surgery under visual guidance. In: Proceedings of the sixth international conference on autonomic and autonomous systems, ICAS, Cancun, Mexico

  19. Staub C, Osa T, Knoll A, Bauernschmitt R (2010) Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery. In: Proceedings of the IEEE international conference on robotics and automation, ICRA 2010, Anchorage, Alaska, USA

  20. Chaumette F, Hutchinson S (2006) Visual servo control, part I: basic approaches. IEEE Robot Autom Mag 13(4):82–90

    Article  Google Scholar 

  21. Chaumette F, Hutchinson S (2007) Visual servo control, part II: advanced approaches. IEEE Robot Autom Mag 14(1):109–118

    Article  Google Scholar 

  22. Ellekidle L-P, Favrholdt P, Paulin M, Petersen HG (2007) Robust control for high-speed visual servoing applications. Int J Adv Robot Syst 4(3):279–292

    Google Scholar 

  23. Mattos L, Caldwell D (2009) A fast and precise micropipette positioning system based on continuous camera-robot recalibration and visual servoing. In: Proceedings of IEEE conference on automation science and engineering, CASE 2009

  24. Rosenfeld A, Kak A (1982) Digital picture processing, vol 2. Academic, New York

    Google Scholar 

  25. Dagnino G, Mattos LS, Caldwell DG (2012) New software tools for enhanced precision in robot-assisted laser phonomicrosurgery. In: Proceedings of the 34th annual international conference of the IEEE engineering in medicine and biology society, San Diego, CA, USA

  26. Phillips CL, Nagle HT (1995) Digital control system analysis and design, 3rd edn. Prentice Hall, Englewood Cliffs

    Google Scholar 

  27. Choi Y, Chung WK (2008) PID trajectory tracking control for mechanical systems. Springer, Berlin

    Google Scholar 

  28. Kirk RE (2006) Statistics: an introduction. Wadsworth Publishing Co Inc, Belmont

    Google Scholar 

Download references

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.

Author information

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
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Leonardo S. Mattos
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Darwin G. Caldwell
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Leonardo S. Mattos.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

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

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

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

Keywords

Search

Navigation