RESUMEN
PURPOSE: Surgical treatments for low-rectal cancer require careful considerations due to the low location of cancer in rectums. Successful surgical outcomes highly depend on surgeons' ability to determine clear distal margins of rectal tumors. This is a challenge for surgeons in robot-assisted laparoscopic surgery, since tumors are often concealed in rectums and robotic surgical instruments do not provide tactile feedback for tissue diagnosis in real time. This paper presents the development and evaluation of an intraoperative ultrasound-based augmented reality framework for surgical guidance in robot-assisted rectal surgery. METHODS: Framework implementation consists in calibrating the transrectal ultrasound (TRUS) and the endoscopic camera (hand-eye calibration), generating a virtual model and registering it to the endoscopic image via optical tracking, and displaying the augmented view on a head-mounted display. An experimental validation setup is designed to evaluate the framework. RESULTS: The evaluation process yields a mean error of 0.9 mm for the TRUS calibration, a maximum error of 0.51 mm for the hand-eye calibration of endoscopic cameras, and a maximum RMS error of 0.8 mm for the whole framework. In the experiment with a rectum phantom, our framework guides the surgeon to accurately localize the simulated tumor and the distal resection margin. CONCLUSIONS: This framework is developed with our clinical partner, based on actual clinical conditions. The experimental protocol and the high level of accuracy show the feasibility of seamlessly integrating this framework within the surgical workflow.
Asunto(s)
Realidad Aumentada , Laparoscopía/métodos , Recto/cirugía , Procedimientos Quirúrgicos Robotizados/métodos , Cirugía Asistida por Computador/métodos , Ultrasonografía Intervencional/métodos , Calibración , Humanos , Fantasmas de Imagen , Fotograbar , Prueba de Estudio Conceptual , Neoplasias del Recto/cirugía , Robótica/instrumentaciónRESUMEN
Microbiota analysis is a fundamental element for a better understanding of microbiota role, its relationship with the human body and its impact on different pathologies. There is today no non-invasive tool for easy collection of the microbiota in the small intestine. In this paper, we describe the development of such a device that opens the way to new diagnostic techniques. The device is based on a capsule designed as a passive system to maximize the safety during its use. Originality of the design relies in the use of a bistable mechanism obtained using additive manufacturing in order to provide a compact design with integration of opening, sampling and closing functions within the capsule. Design, implementation and initial lab evaluation of sampling are presented.