Semi‐autonomous image‐guided brain tumour resection using an integrated robotic system: A bench‐top study. Issue 1 (3rd November 2017)

• Record Type: Journal Article
• Authors: Hu, Danying; Gong, Yuanzheng; Seibel, Eric J.; Sekhar, Laligam N.; Hannaford, Blake
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 14:Issue 1(2018)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2017-11-03
• Subjects: ablation -- brain -- computer assisted surgery -- endoscopy -- fluorescence -- imaged guided surgery -- intraoperative imaging -- in vivo -- medical automation -- navigation -- robotic surgery -- tumor -- vision; Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1872
• Languages: English
• ISSNs: 1478-5951

Abstract

Abstract: Background: Complete brain tumour resection is an extremely critical factor for patients' survival rate and long‐term quality of life. This paper introduces a prototype medical robotic system that aims to automatically detect and clean up brain tumour residues after the removal of tumour bulk through conventional surgery. Methods: We focus on the development of an integrated surgical robotic system for image‐guided robotic brain surgery. The Behavior Tree framework is explored to coordinate cross‐platform medical subtasks. Results: The integrated system was tested on a simulated laboratory platform. Results and performance indicate the feasibility of supervised semi‐automation for residual brain tumour ablation in a simulated surgical cavity with sub‐millimetre accuracy. The modularity in the control architecture allows straightforward integration of further medical devices. Conclusions: This work presents a semi‐automated laboratory setup, simulating an intraoperative robotic neurosurgical procedure with real‐time endoscopic image guidance and provides a foundation for the future transition from engineering approaches to clinical application.