Imperial College London

DrPhilipPratt

Faculty of MedicineDepartment of Surgery & Cancer

 
 
 
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Contact

 

+44 (0)20 3312 5525p.pratt Website

 
 
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Location

 

005Paterson WingSt Mary's Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Pratt:2015:10.1007/978-3-319-24553-9_31,
author = {Pratt, P and Hughes-Hallett, A and Zhang, L and Patel, N and Mayer, E and Darzi, A and Yang, G-Z},
doi = {10.1007/978-3-319-24553-9_31},
pages = {249--257},
publisher = {SPRINGER INT PUBLISHING AG},
title = {Autonomous Ultrasound-Guided Tissue Dissection},
url = {http://dx.doi.org/10.1007/978-3-319-24553-9_31},
year = {2015}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Intraoperative ultrasound imaging can act as a valuable guide during minimally invasive tumour resection. However, contemporaneous bimanual manipulation of the transducer and cutting instrument presents significant challenges for the surgeon. Both cannot occupy the same physical location, and so a carefully coordinated relative motion is required. Using robotic partial nephrectomy as an index procedure, and employing PVA cryogel tissue phantoms in a reduced dimensionality setting, this study sets out to achieve autonomous tissue dissection with a high velocity waterjet under ultrasound guidance. The open-source da Vinci Research Kit (DVRK) provides the foundation for a novel multimodal visual servoing approach, based on the simultaneous processing and analysis of endoscopic and ultrasound images. Following an accurate and robust Jacobian estimation procedure, dissections are performed with specified theoretical tumour margin distances. The resulting margins, with a mean difference of 0.77mm, indicate that the overall system performs accurately, and that future generalisation to 3D tumour and organ surface morphologies is warranted.
AU - Pratt,P
AU - Hughes-Hallett,A
AU - Zhang,L
AU - Patel,N
AU - Mayer,E
AU - Darzi,A
AU - Yang,G-Z
DO - 10.1007/978-3-319-24553-9_31
EP - 257
PB - SPRINGER INT PUBLISHING AG
PY - 2015///
SN - 0302-9743
SP - 249
TI - Autonomous Ultrasound-Guided Tissue Dissection
UR - http://dx.doi.org/10.1007/978-3-319-24553-9_31
UR - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000366205700031&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR - http://hdl.handle.net/10044/1/64039
ER -