Loris Fichera's Cognitive Supervision for Robot-Assisted Minimally Invasive PDF

By Loris Fichera

ISBN-10: 3319303295

ISBN-13: 9783319303291

ISBN-10: 3319303309

ISBN-13: 9783319303307

This thesis lays the foundation for the automated supervision of the laser incision procedure, which goals to counterpoint surgeons’ belief of the country of tissues and increase their regulate over laser incisions. The examine challenge is formulated because the estimation of variables which are consultant of the country of tissues in the course of laser slicing. earlier examine during this quarter leveraged numerical computation tools that undergo a excessive computational expense and aren't hassle-free to exploit in a surgical surroundings. This e-book proposes a unique method to this challenge, utilizing versions encouraged by means of the facility of skilled surgeons to accomplish specific and fresh laser slicing. It exhibits that those new versions, which have been extracted from experimental info utilizing statistical studying suggestions, are undemanding to exploit in a surgical setup, permitting larger precision in laser-based surgical procedures.

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Extra info for Cognitive Supervision for Robot-Assisted Minimally Invasive Laser Surgery

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Forceps are used to apply traction on the tissue, exposing the desired resection plane (as shown in Fig. 2b). State-of-the-art laser systems incorporate robotic technology to offer the automatic execution of pre-programmed laser scan patterns. This concept is illustrated in Fig. 3: the coordination of one (or more) motorized reflective elements allows to realize diverse scan patterns. Tissue incision by laser scanning has been shown to be superior in terms of quality and accuracy with respect to manual control: laser scanning prevents the accumulation of heat by multi-pass irradiation, thus reducing the risk of thermal damage [6].

The coincidence of diverse thermal artifacts is represented in Fig. 11, which shows a sample laser incision produced with a CO2 laser on ex-vivo chicken muscle tissue. The incision line was created through repeated scans of the laser beam: the high temperatures induced in correspondence of the laser incidence points determined the ablation of tissue. Carbonized tissue can be recognized in the surroundings of the incision crater, where the temperature of tissue has risen above 100 ◦ C. These areas appear darker in color with respect to normal tissue.

Typical values for these range between 1 and 2 mm, as larger values would result in a significant damage to the vocal function [7, 8]. To achieve such level of resection accuracy, both the width and depth of laser cuts need to be precisely controlled: to this aim, it is desirable to produce narrow incision widths, while the cutting depth should be as close as possible to the planned one. Even a few millimetres of additional resected tissue would greatly impact the functional outcomes of surgery [4].

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Cognitive Supervision for Robot-Assisted Minimally Invasive Laser Surgery by Loris Fichera

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