论文标题

使用基于图像的血流检测来清除止血的自主机器人吸力,以清除手术场

Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection

论文作者

Richter, Florian, Shen, Shihao, Liu, Fei, Huang, Jingbin, Funk, Emily K., Orosco, Ryan K., Yip, Michael C.

论文摘要

在过去的十年中,自主机器人手术的进展显着,目的是减轻外科医生的疲劳,提高程序的一致性,并可能有一天接管手术本身。但是,自动化尚未应用于控制组织和血管出血的关键手术任务 - 称为止血。止血的任务涵盖了一系列出血来源以及一系列的血液速度,轨迹和体积。在极端情况下,未控制的血管充满了流动的血液。在这项工作中,我们通过开发一种新型的概率血流检测算法和一种轨迹产生技术来介绍第一个自动溶液,用于止血,该解决方案可指导自动吸力工具用于汇聚血液。在模拟场景和现实生活创伤场景中,都测试了血流检测算法,涉及甲状腺切除术期间发生的出血。在具有DA Vinci研究试剂盒(DVRK)的物理实验室环境中测试了完整的解决方案,并在模拟的手术腔中进行了血液的流动测试。结果表明,我们的自动化解决方案具有准确的检测,快速反应时间以及有效去除流动的血液。因此,所提出的方法是清除手术领域的强大工具,其次是外科医生或未来的机器人自动化开发,以关闭船舶破裂。

Autonomous robotic surgery has seen significant progression over the last decade with the aims of reducing surgeon fatigue, improving procedural consistency, and perhaps one day take over surgery itself. However, automation has not been applied to the critical surgical task of controlling tissue and blood vessel bleeding--known as hemostasis. The task of hemostasis covers a spectrum of bleeding sources and a range of blood velocity, trajectory, and volume. In an extreme case, an un-controlled blood vessel fills the surgical field with flowing blood. In this work, we present the first, automated solution for hemostasis through development of a novel probabilistic blood flow detection algorithm and a trajectory generation technique that guides autonomous suction tools towards pooling blood. The blood flow detection algorithm is tested in both simulated scenes and in a real-life trauma scenario involving a hemorrhage that occurred during thyroidectomy. The complete solution is tested in a physical lab setting with the da Vinci Research Kit (dVRK) and a simulated surgical cavity for blood to flow through. The results show that our automated solution has accurate detection, a fast reaction time, and effective removal of the flowing blood. Therefore, the proposed methods are powerful tools to clearing the surgical field which can be followed by either a surgeon or future robotic automation developments to close the vessel rupture.

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