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Virtual and Augmented Reality in Medicine
Published in John G Webster, Minimally Invasive Medical Technology, 2016
In surgical planning, the surgeon reviews the accessible patient information and develops a plan for the surgical procedure. As discussed earlier, advanced visualization techniques can support the mental task of understanding complex anatomical data. Potentially, additional information from different examinations or generic data sets can be combined for the virtual patient model. Based on such a model, optimal corridors, for example neurosurgery, can be identified. These trajectories can consider the location of vessels, nerves, specific brain regions and other critical anatomy, and landmarks can be set for them when image-guided surgery is used.
Application of 3D Printing and Robotics in the Healthcare Industry
Published in Kaushik Kumar, Sridhar B. Babu, Industrial Automation and Robotics, 2023
Prachi Khamkar, Debarshi Kar Mahapatra, Atul Mansing Kadam
In a number of pediatric head and neck surgical procedures, robotic surgery has been proved to be feasible and successful. On the other side, adoption has been limited. The development of new robotic platforms with application-specific tools, as well as improved preoperative surgical planning, may allow for a more seamless integration of robotic surgery into practice [33]. Computer-aided surgical planning techniques including 3D printing, virtual reality, a multi-objective cost function for approach optimization, mirror image overlay, and adaptable robotic instruments may bring greater value and applicability to present practice with additional study.
Robot Path and Motion Planning
Published in Jitendra R. Raol, Ajith K. Gopal, Mobile Intelligent Autonomous Systems, 2016
Many times in motion planning the problem stated is that of the basic path planning problem: to compute a collision-free path for a rigid, articulated object (the robot), or a mobile robot among static (and dynamic) obstacles with the inputs: (a) geometry of robot and obstacles, (b) kinematics of robot (degrees of freedom) and (c) initial and goal configurations (robot’s placements) and with the output as continuous sequence of collision-free robot movements connecting the initial and goal (robot) configurations. However, the basic path planning problem can be made more complex, more sophisticated and more general by extension and incorporating the following additional aspects: (i) environment of moving obstacles with uncertainties, (ii) multiple robots (multi-robot coordination and path planning), (iii) movable objects, (iv) deformable objects, (v) enhancing goal task to gather data by sensing, (vi) nonholonomic constraints, (vii) dynamic constraints, (viii) optimal planning as against the heuristic or suboptimal planning and (ix) recognizing uncertainty in control and sensing that will have effect on accuracy of trajectory traversed. Thus, the path planning problem is extended to encompass the motion planning with more sophistication. These extensions (at least a few of them) are/will be useful [3–6] (a) in the design of manufacturing and related processes, (b) robot programming and proper placement where really needed, like their stable positioning, (c) checking building code, (d) generation of instruction sheets, (e) model construction by the mobile robot, (f) graphic animation of digital actors, (g) computer-assisted surgical planning, (h) prediction of molecular motions, (i) Mars exploration rovers, (j) military vehicle movements, (k) assembly maintainability, (1) virtual environment and games, (m) computational biology and chemistry application and (n) RoboCup. The representation concepts common to path/motion planning problems are (as we have discussed in Sections 10.2 through 10.5): (i) state-space (CS), position, velocity with respect to time; (ii) composite configuration/state spaces (extended robot arms, protrusions); (iii) stability regions in configuration/state spaces and (iv) visibility regions in configuration/state spaces.
Previous, current, and future stereotactic EEG techniques for localising epileptic foci
Published in Expert Review of Medical Devices, 2022
Debayan Dasgupta, Anna Miserocchi, Andrew W. McEvoy, John S. Duncan
With the invention and rapid development of computed tomography (CT) and magnetic resonance imaging (MRI) scans in the 1980s, the improved anatomical information available noninvasively – particularly the development of vascular imaging with intravenous contrast agents – allowed surgical planning to be more accurate and therefore meant the use of invasive SEEG was made safer. Functional techniques such as positron-emission tomography (PET) and SPECT were also developed in the 1980s, adding to the arsenal of presurgical investigations that can aid a multi-disciplinary epilepsy team to identify the epileptogenic zone, the primary aim of presurgical investigations in DRFE. In the last 10–20 years, there has been an increase in the evaluation of patients who have no obvious lesion on MRI but in whom the noninvasive data suggests hypotheses for the location of the SOZ using SEEG. Previously many of these ‘MRI-negative’ cases would not have progressed to surgical evaluation.
Computer assisted surgery in preoperative planning of acetabular fracture surgery: state of the art
Published in Expert Review of Medical Devices, 2018
Mehdi Boudissa, Aurélien Courvoisier, Matthieu Chabanas, Jérôme Tonetti
Segmentation of bone tissue from pelvic CT scan is an important first step in order to provide high-quality specific 3D reconstructions for computer-based surgical planning using patient-specific anatomical models. It is a challenge in the fractured pelvic bone because of the differences in density between cortical bone and cancellous bone, the high number of slices, the weak boundaries, and the diversity of injury patterns. Several methods have been described in the literature. Wu et al. described an automated hierarchical algorithm for bone fracture detection in pelvic CT scans [9]. Fornaro et al. described a semiautomatic multistep segmentation method for automated detection of incorrect bone fragment separation in the case of incomplete pelvic fractures. After segmentation of cortical bone and segmentation of cancellous bone, a separation of bone fragments is done followed by a treatment of incomplete fractures. A segmentation refinement is necessary and sometimes time consuming. The mean duration of the procedure is 301 s [10]. Vasilache and Najarian described an automated segmentation method capable of distinguishing between separate bones even if bones are in very close proximity [11]. Boudissa et al. used an open-source software for semiautomatic segmentation based on growth region algorithms then manual refinements (Figures 1 and 2). A better understanding of the fracture patterns and better classification rate was obtained with segmentation in comparison with standard 3D views of radiologists [4].
Computer-assisted surgery in medical and dental applications
Published in Expert Review of Medical Devices, 2021
Yen-Wei Chen, Brian W. Hanak, Tzu-Chian Yang, Taylor A. Wilson, Jenovie M. Hsia, Hollie E. Walsh, Huai-Che Shih, Kanako J. Nagatomo
The focus of this review is on systems that allow for precise pre-surgical planning and intra-operative guidance based on three-dimensional renderings generated from high-resolution imaging studies, though we must not overlook the fact that the broad topic of computer-assisted surgery encompasses many other surgical technologies as well. So, although we will discuss surgical robots that provide precise surgical guidance based on preoperative or intraoperative radiologic imaging studies like the ROSA® Brain (Zimmer Biomet) and Mazor XTM (Medtronic) surgical robots, we will not discuss non-image guided surgical robots such as the da Vinci system (Intuitive Surgical), though these systems also certainly rely heavily on modern computer processing technology.