Minimally invasive surgeries use small incisions through needles for operations to be conducted from outside the patient’s body. Therefore, an accurate map of the distribution of tissues in real-time is critical to ensure patient safety. In this work, we explore all optical sensing methods as simple, fast, and economic alternatives to commercial imaging modalities. Simulated tissues have been prepared using gelatin to conduct optical characterization experiments. Transmission and fluorescence spectra on homogenous and heterogenous gelatin with different concentrations would be reported, with a focus on developing an optoelectronic technique for mapping of tissue distribution. Finally, this technique would be validated through real-time needle insertion experiment into a gelatin sample to track the spectral data of the tissue environments. This work could help track biological tissues where the spectral data could help surgeons visualize the needle-tissue environments in real-time.
Robot-assisted minimally invasive surgery is an emerging technology where the incision needle is operated by a robot manipulator to assist surgeons in performing interventional procedures such as biopsy and brachytherapy. Most robotic systems previously designed for needle interventions are stand-alone and operate in coplanar fashion, which require external mechanisms such as robot arms to align the needle onto the target tissue plane. In this work, we design a portable and light-weight needle steering platform that connects as an end-effector to a 6 degree-of-freedom industrial robot arm such as a FANUC robot. Standard FANUC operating functions would be used to control the motion of the end-effector and insert needles into the target tissues. Simulated gelatin tissues are used to perform needle insertions, and the performance of the end-effector is tested by changing the position and orientation of the tissue platforms. Finally, the proposed system will be tested for scalability by integrating with other industrial robot arms such as Yaskawa.
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