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首页> 外文会议>International Conference on Automation Science and Engineering >Ultrasound-Guided Involuntary Motion Compensation of Kidney Stones in Percutaneous Nephrolithotomy Surgery
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Ultrasound-Guided Involuntary Motion Compensation of Kidney Stones in Percutaneous Nephrolithotomy Surgery

机译：经皮肾传离手术肾结石的超声引导式非自愿运动补偿

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Percutaneous Nephrolithotomy (PCNL) is a minimally invasive percutaneous surgical procedure used for large kidney stone removal under ultrasound and fluoroscopy guidance. During the surgery, precise control of handheld 2D ultrasound probe is required but highly challenging as it depends on operator's experience, judgement and dexterity. To complicate the problem, kidney stone moves away from its 2D ultrasound image plane due to respiratory movement of the patient. This makes locating the kidney stone extremely challenging, if not impossible, further limiting the success of the initial needle puncture. Therefore, there is a need to bring automation to the intraoperative workflow to compensate out-of-plane motion of the kidney stone. Maintaining simultaneous control of appropriate contact force during visual tracking is also essential to ensure accurate percutaneous access to the target calyx. This work proposes a visual servoing framework to address the aforesaid problems. Our proposed visual servoing framework comes in the form of two stages namely; pre-scan and realtime visual servoing. Probe holding robotic manipulator firstly scans a small region around the target to construct 3D volume data, followed by out-of-plane target tracking using image correlation-based block matching algorithm. A position based admittance control scheme is developed to address the latent need of maintaining an appropriate contact force between the probe and patient's body during visual servoing. Experimental results show that proposed framework is able to track out-of-plane motion of kidney stone with a position error of only one frame while regulating the environment force feedback with a maximum error of 0.2N. By incorporating automation to existing surgical workflow, we hope to positively impact the way minimally invasive surgeries are performed.
机译：经皮肾传离术（PCN1）是在超声波和透视引导下用于大肾脏去除的微创经皮手术。在手术期间，需要精确控制手持式2D超声探头，但是，这取决于运营商的经验，判断和灵活性。为了使问题复杂化，由于患者的呼吸运动，肾脏石头从其2D超声图像平面移动。这使得肾脏石头非常具有挑战性，如果不是不可能的话，进一步限制了初始针刺的成功。因此，需要将自动化带入术中的工作流程以补偿肾脏石头的平面外运动。在视觉跟踪期间保持对适当的接触力的同时控制对于确保对目标Calyx的准确进入来说也是必不可少的。这项工作提出了一种可视伺服框架来解决上述问题。我们所提出的视觉伺服框架是以两个阶段的形式出现;预扫描和实时视觉伺服。探针持有机器人操纵器首先扫描目标周围的小区域以构建3D音量数据，然后使用基于图像相关的块匹配算法进行平面外目标跟踪。开发了一种基于位置的进入控制方案，以解决在视觉伺服期间维持探针和患者身体之间适当接触力的潜在需求。实验结果表明，建议的框架能够跟踪肾脏石头的外平面运动，只有一个帧的位置误差，同时调节环境力反馈，最大误差为0.2n。通过将自动化结合到现有的外科工作流程，我们希望积极影响最微创手术的方式。

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