New software tools for enhanced precision in robot-assisted laser phonomicrosurgery

Giulio Dagnino*, Leonardo S. Mattos, Darwin G. Caldwell

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)

Abstract

This paper describes a new software package created to enhance precision during robot-assisted laser phonomicrosurgery procedures. The new software is composed of three tools for camera calibration, automatic tumor segmentation, and laser tracking. These were designed and developed to improve the outcome of this demanding microsurgical technique, and were tested herein to produce quantitative performance data. The experimental setup was based on the motorized laser micromanipulator created by Istituto Italiano di Tecnologia and the experimental protocols followed are fully described in this paper. The results show the new tools are robust and effective: The camera calibration tool reduced residual errors (RMSE) to 0.009 ± 0.002 mm under 40× microscope magnification; the automatic tumor segmentation tool resulted in deep lesion segmentations comparable to manual segmentations (RMSE= 0.160 ± 0.028 mm under 40× magnification); and the laser tracker tool proved to be reliable even during cutting procedures (RMSE= 0.073 ± 0.023 mm under 40× magnification). These results demonstrate the new software package can provide excellent improvements to the previous microsurgical system, leading to important enhancements in surgical outcome.

Original languageEnglish
Title of host publication2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
Pages2804-2807
Number of pages4
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012 - Hilton San Diego Bayfront, San Diego, United States
Duration: 28 Aug 20121 Sep 2012
Conference number: 34

Conference

Conference34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
Abbreviated titleEMBC
CountryUnited States
CitySan Diego
Period28/08/121/09/12

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