Organ Shape Sensing using Pneumatically Attachable Flexible Rails in Robotic-Assisted Laparoscopic Surgery

In robotic-assisted partial nephrectomy, surgeons remove a part of a kidney often due to the presence of a mass. A drop-in ultrasound probe paired to a surgical robot is deployed to execute multiple swipes over the kidney surface to localise the mass and define the margins of resection. This sub-tas...

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Veröffentlicht in:	arXiv.org 2022-11
Hauptverfasser:	McDonald-Bowyer, Aoife, Dietsch, Solène, Dimitrakakis, Emmanouil, Coote, Joanna M, Lindenroth, Lukas, Stoyanov, Danail, Stilli, Agostino
Format:	Artikel
Sprache:	eng
Schlagworte:	Curvature Kidneys Laparoscopy Optical fibers Organs Robotic surgery Robotics Soft robotics Stiffness Surgeons Surgical instruments Trajectory planning Ultrasonic imaging
Online-Zugang:	Volltext
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