Biocompatible Near-Infrared Three-Dimensional Tracking System

Abstract

A fundamental challenge in soft-tissue surgery is that target tissue moves and deforms, becomes occluded by blood or other tissue, and is difficult to differentiate from surrounding tissue. We developed small biocompatible near-infrared fluorescent (NIRF) markers with a novel fused plenoptic and NIR camera tracking system, enabling 3D tracking of tools and target tissue while overcoming blood and tissue occlusion in the uncontrolled, rapidly changing surgical environment. In this work, we present the tracking system and marker design and compare tracking accuracies to standard optical tracking methods using robotic experiments. At speeds of 1 mm/s, we observe tracking accuracies of 1.61 mm, degrading only to 1.71 mm when the markers are covered in blood and tissue.

Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing

“…To handle more complex tumor geometry, a three dimensional plenoptic camera will be integrated with the system. Plenoptic imaging was previously shown to tracking NIRF markers with an accuracy of 1.61mm that degrades to 1.71mm when occluded by blood [42]. Multimodal imaging will be coupled with a bimanual cutting strategy to expose and dissect three dimensional geometries.…”

Operational framework and training standard requirements for AI‐empowered robotic surgery

“…Automating postmortem studies has major significance and opens new opportunities for testing automation using new tracing agents. It provides an ideal test bench for testing novel near‐infrared or radioactive tracers, 26,27 that are fundamental to automate surgery procedures and, compared with testing in live patients, entails a reduction in the level of clearance required by regulatory boards. Most agents need viable tissue to work with.…”

Intraoperative bone registration: An implementation in orthopaedic surgery using polaris vicra system

“…This system is composed by a set of tools whose position is given by a specific configuration of sphere markers that can be passive or active [7]. Both types of tools can be wireless that allows a greater mobility of them.…”

“…It has been widely used in medical procedures once it has shown a good accuracy and reliability [7]. This paper presents a workflow in 3DSlicer software to perform the registration procedure.…”