A continuum robot and control interface for surgical assist in fetoscopic interventions

Article


Dwyer, G., Chadebecq, F., Amo, M., Bergeles, C., Maneas, E., Pawar, V., Poorten, E., Deprest, J., Ourselin, S., De Coppi, P., Vercauteren, T. and Stoyanov, D. 2017. A continuum robot and control interface for surgical assist in fetoscopic interventions. IEEE Robotics and Automation Letters. 2 (3), pp. 1656-1663. https://doi.org/10.1109/LRA.2017.2679902
TypeArticle
TitleA continuum robot and control interface for surgical assist in fetoscopic interventions
AuthorsDwyer, G., Chadebecq, F., Amo, M., Bergeles, C., Maneas, E., Pawar, V., Poorten, E., Deprest, J., Ourselin, S., De Coppi, P., Vercauteren, T. and Stoyanov, D.
Abstract

Twin-twin transfusion syndrome requires interventional treatment using a fetoscopically introduced laser to sever the shared blood supply between the fetuses. This is a delicate procedure relying on small instrumentation with limited articulation to guide the laser tip and a narrow field of view to visualize all relevant vascular connections. In this letter, we report on a mechatronic design for a comanipulated instrument that combines concentric tube actuation to a larger manipulator constrained by a remote centre of motion. A stereoscopic camera is mounted at the distal tip and used for imaging. Our mechanism provides enhanced dexterity and stability of the imaging device. We demonstrate that the imaging system can be used for computing geometry and enhancing the view at the operating site. Results using electromagnetic sensors for verification and comparison to visual odometry from the distal sensor show that our system is promising and can be developed further for multiple clinical needs in fetoscopic procedures.

KeywordsSurgical robotics: laparoscopy; medical robots and systems; flexible robots; mechanism design
PublisherIEEE
JournalIEEE Robotics and Automation Letters
ISSN2377-3766
Publication dates
Online08 Mar 2017
PrintJul 2017
Publication process dates
Accepted2017
Deposited28 Feb 2024
Output statusPublished
Digital Object Identifier (DOI)https://doi.org/10.1109/LRA.2017.2679902
Web of Science identifierWOS:000413739500056
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