论文标题
自动激光转向中耳手术
Automatic laser steering for middle ear surgery
论文作者
论文摘要
本文介绍了中耳中侵入性手术的背景下的激光斑点的控制，例如去除Cholesteatoma。更确切地说，我们的工作与病理组织的主要机械切除后残留感染细胞的详尽无力掩埋，因为后者无法保证治疗所有受感染的组织，其余感染的细胞会导致20％-25 \ - ％的病例中的疾病再生，这需要12-18个月后第二次手术。为了解决这样的复杂手术，我们开发了一个机器人平台，该平台由宏观系统（7度的自由度（DOFS）机器人组）和一个微型柔性系统（2 DOF）组合组合，该系统在中耳腔内运行。为了能够治疗残留的胆汁脂蛋白区域，我们提出了一种方法，可以自动在区域内和它们之间生成最佳的激光扫描轨迹。使用基于图像的控制方案来解决轨迹。使用实验室制造的机器人平台对所提出的方法和材料进行了实验验证。在准确性和行为方面，获得的结果完全满足激光手术要求。
This paper deals with the control of laser spot in the context of minimally invasive surgery of the middle ear, e.g., cholesteatoma removal. More precisely, our work is concerned with the exhaustive burring of residual infected cells after primary mechanical resection of the pathological tissues since the latter cannot guarantee the treatment of all the infected tissues, the remaining infected cells cause regeneration of the diseases in 20%-25\-% of cases, which require a second surgery 12-18 months later. To tackle such a complex surgery, we have developed a robotic platform that consists of the combination of a macro-scale system (7 degrees of freedom (DoFs) robotic arm) and a micro-scale flexible system (2 DoFs) which operates inside the middle ear cavity. To be able to treat the residual cholesteatoma regions, we proposed a method to automatically generate optimal laser scanning trajectories inside the regions and between them. The trajectories are tacked using an image-based control scheme. The proposed method and materials were validated experimentally using the lab-made robotic platform. The obtained results in terms of accuracy and behaviour meet perfectly the laser surgery requirements.
