TY - GEN
T1 - Development of Robot-assisted Ultrasound System for Fetoscopic Tracking in Twin to Twin Transfusion Syndrome Surgery
AU - Cai, Yuyu
AU - Davoodi, Ayoob
AU - Li, Ruixuan
AU - Ourak, Mouloud
AU - Niu, Kenan
AU - Deprest, Jan
AU - Poorten, Emmanuel Vander
N1 - Funding Information:
This project has received funding from the CSC Scholarship, the KU Leuven funded C2 project (FLEXFET), and Flemish Research Foundation (FWO) under grant agreement NO.1S36322N (Harmony) Yuyu Cai, Ayoob Davoodi, Ruixuan Li, Mouloud Ourak, and Emmanuel Vander Poorten are with the Department of Mechanical Engineering, KU Leuven, Belgium. Kenan Niu is with Faculty of Electrical Engineering, University of Twente, Netherlands. Jan Deprest is with University Hospital Leuven, Department of Development and Regeneration, Leuven, Belgium.
Publisher Copyright:
© 2023 IEEE.
PY - 2023/5/25
Y1 - 2023/5/25
N2 - Twin to Twin Transfusion Syndrome (TTTS) is one of the most severe conditions of congenital anomaly. Fetoscopic Laser Photocoagulation (FLP) has been shown as the preferred treatment for TTTS. The complicated intrauterine environment and limited incision diameter make FLP a very challenging surgery. Besides, the motion of the fetoscope is complex. Ultrasound (US) probe is used to offer a view of the anatomy as well as the relative pose of the fetoscope. However, keeping the fetoscope tip (FT) in view is difficult. A robotic US system could potentially solve the complex US probe handling and could improve the surgeon's view of the intrauterine scene. In this paper, an automatic fetoscope tracking algorithm was developed and ensured safe interactions between robot and fragile tissues for FLP surgery. The US probe attached to the robot was controlled by a hybrid position-force control strategy. For evaluation, four fetoscope motion profiles were investigated on a custom-designed phantom. The system achieved a 78.87% visibility rate for the US image evaluation. The contact force was 0.99± 0.68 N during the tracking to ensure the patient's safety. The proposed system demonstrates the capability of accurate real-time fetoscope tracking.
AB - Twin to Twin Transfusion Syndrome (TTTS) is one of the most severe conditions of congenital anomaly. Fetoscopic Laser Photocoagulation (FLP) has been shown as the preferred treatment for TTTS. The complicated intrauterine environment and limited incision diameter make FLP a very challenging surgery. Besides, the motion of the fetoscope is complex. Ultrasound (US) probe is used to offer a view of the anatomy as well as the relative pose of the fetoscope. However, keeping the fetoscope tip (FT) in view is difficult. A robotic US system could potentially solve the complex US probe handling and could improve the surgeon's view of the intrauterine scene. In this paper, an automatic fetoscope tracking algorithm was developed and ensured safe interactions between robot and fragile tissues for FLP surgery. The US probe attached to the robot was controlled by a hybrid position-force control strategy. For evaluation, four fetoscope motion profiles were investigated on a custom-designed phantom. The system achieved a 78.87% visibility rate for the US image evaluation. The contact force was 0.99± 0.68 N during the tracking to ensure the patient's safety. The proposed system demonstrates the capability of accurate real-time fetoscope tracking.
KW - optical navigation
KW - robot-assisted surgery
KW - TTTS fetoscopic
KW - ultrasound tracking
KW - 2023 OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85161933880&partnerID=8YFLogxK
U2 - 10.1109/ISMR57123.2023.10130208
DO - 10.1109/ISMR57123.2023.10130208
M3 - Conference contribution
AN - SCOPUS:85161933880
BT - 2023 International Symposium on Medical Robotics, ISMR 2023
PB - IEEE
T2 - International Symposium on Medical Robotics, ISMR 2023
Y2 - 19 April 2023 through 21 April 2023
ER -