Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing

Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain tasks could alleviate the physical and mental load of doctors during interventions allowing them to focus on...

Deep-learning-based Position Control of a Robotic Catheter under Environmental Contact

Precise control of robotic catheters remains challenging in interventions. Inherent non-linearities such as hysteresis and external disturbances such as blood flow or contact with the vessel walls have a large impact on the reachable positioning precision. As inaccurate positioning of the catheter tip could lead to tissue damage, controllers...

Electrosurgical knife equipped with diffused reflectance spectroscopy sensing for tumor margin detection during breast conserving surgery: A phantom study

Distinguishing the diseased breast tissue from the healthy tissue is a sorely challenging task for the surgeons during breast conserving surgery (BCS) as both tissues own relatively similar visual and haptic characteristics. It has been shown that diffused reflectance spectroscopy (DRS) has the potential to be used as a real-time tumor margin...

Model-to-Image Registration via Deep Learning towards Image-Guided Endovascular Interventions

Cardiologists highlight the need for an intra-operative 3D visualization to assist interventions. The intra-operative 2D X-ray/Digital Subtraction Angiography (DSA) images in the standard clinical workflow limit cardiologists’ views significantly. Compared with image-to-image registration, model-to-image registration is an essential approach...

Preliminary Validation of an Editable Virtual Reality Simulator for Minimally Invasive Surgical Training

MIS-SIM is a virtual reality (VR) environment designed and developed for the creation of virtual scenarios that can be used to train and acquire basic and advance laparoscopic skills. The environment is composed by a task editor where a content creator design and develop tasks for the simulator to play. Once they are completed, objective...

Needle deflection in thermal ablation procedures of liver tumors: a CT image analysis

Introduction: Accurate needle placement is crucial in image-guided needle interventions. A targeting error may be introduced due to undesired needle deflection upon insertion through tissue, caused by e.g. patient breathing, tissue heterogeneity, or asymmetric needle tip geometries. This paper aims to quantify needle deflection in thermal...

Roadmap for design of surgical equipment for safe surgery worldwide

Safe and affordable surgery is not accessible for five billion people when they need it. Multiple surgical capacity studies have shown that hospitals in low-And-middle income countries do not have complete coverage of basic surgical equipment such as, theatre lights, anesthesia machines and electro surgical units. Currently, almost all...

Real-time estimation of surgical procedure duration

Efficiency in the Operating Room (OR) is a topic of growing interest. Planning of care is a crucial element to ensure optimal use of the ORs. Currently, OR scheduling is considered as a complex task based on predictions of surgery duration. The latter are often based on average times, but turn out to be inaccurate in practice because of...

A pedagogically-supported TEL solution for learning nontechnical minimally invasive surgical skills across Europe

Differences in abdominal force between conventional and single port laparoscopy

In laparoendoscopic single-site surgery (LESS), only one single incision is used to introduce all instruments into the abdominal cavity. The introduction of multi-channel single-port devices enabled insertion of laparoscopic instruments and laparoscope through one single entry point instead of multiple entry points in conventional laparoscopic...

Developments in minimally invasive surgery and interventional techniques (misit)