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Flexible endoscopy is used to inspect and treat disorders of the gastrointestinal (GI) tract without the need for creating an artificial opening on the patient's body. Simple surgical procedures (like polypectomy and biopsy) can be performed by introducing a flexible tool via a working channel to reach the site of interest at the distal end. More technically demanding surgical procedures like hemostasis...
QT dispersion (QTD) is thought to represent the regional nonuniformity of ventricular repolarization and can serve as a prognostic marker for vulnerability to ventricular arrhythmias and risk for sudden cardiac death (SCD). In this study, we used an in vivo swine model to investigate the change of QT-peak dispersion before and after the introduction of a left-ventricular (LV) free-wall structural...
Atrial fibrillation (AF) and flutter are common following cardiac surgery, increasing costs and morbidity. Cardiologists need a method to discern those patients who are at high risk for this arrhythmia in order to attempt to treat them by either pharmacologic or non-pharmacologic means. We performed a retrospective analysis of 377 CABG patients, of which 94 developed AF post-operatively. Feature selection...
Electrocardiogram (ECG) ST-segment changes are commonly used to diagnose myocardial ischemia. In this study we compared ST-segment changes with changes in myocardial electrical impedance (MEI) - an electrical parameter that also responses to ischemia - during off-pump coronary artery bypass graft (OPCABG) surgery of the left anterior descending coronary artery (LADa). We recorded MEI and ST-segment...
Meniscal tears are a common occurrence in the human knee joint. Orthopaedic surgeons routinely perform surgery to remove a portion of the torn meniscus. This surgery is referred to as a partial meniscectomy. It has been shown that individuals who have decreased amount of meniscus are likely to develop knee osteoarthritis. This research presents the analysis of the stresses in the knee joint upon various...
The recent advent of real-time 3-D ultrasound (3D US) imaging enables a variety of surgical procedures to be performed within the beating heart. Implementation of these procedures is hampered by the difficulty of manipulating tissue guided by the distorted, low resolution 3D US images and the dexterity constraints imposed by the confined intracardiac space. This paper investigates the use of surgical...
Current surgical robotic systems dominate the space in the sterile field above the patient. Ideally, next generation systems will couple the simplicity of traditional laparoscopic instruments with the dexterity of robotic assisted surgery. This paper presents the design of a novel 6 DOF robotic instrument that eliminates the dependence on pivoting about the incision point. The motion envelope of the...
Currently, physicians are using a new technique based on radiofrequency (RF) induced hyperthermia, to treat tumors in the musculoskeletal system. This method uses a RF probe, which is placed inside the tumor, which in turn is heated within the active volume of the probe, eliminating in this way the tumor cells without affecting healthy cells. For this treatment, the surgeon must know the exact shape...
The graphical user interface for an MR compatible robotic device has the capability of displaying oblique MR slices in 2D and a 3D virtual environment along with the representation of the robotic arm in order to swiftly complete the intervention. Using the advantages of the MR modality the device saves time and effort, is safer for the medical staff and is more comfortable for the patient
This paper describes a surgical simulator of laparoscopic esophageal procedures with virtual reality (VR) technology for training purposes. Because the success of the procedure is highly influenced by the number of practices, a VR based simulator is a promising training medium in terms of safety and expense. For the realistic simulation of tool-tissue interactions, a physically based soft tissue model...
Recently many different groups show that environmental temperature and relative humidity affects the outcomes of refractive surgery performed by excimer lasers in an unpredictable fashion. A theoretical model of the water vapor absorption at 193 nm wavelength is presented and discussed in order to quantitatively assess the influence of environmental parameters on the laser energy that actually reaches...
The hybrid stimulation in cochlear implants requires changes in the design of electrode arrays. A new generation of flat electrode arrays that does not damage the cochlea is being developed. For the insertion of these flat array electrodes a groove must be milled in the antero-inferior area of the round window niche. Even for the most experienced surgeon, it is very difficult to carry out this operation...
Some of the most important problems arising during a laparoscopic surgery relate to the limited perception of depth and field of view (fov). In this paper we explore the possibilities of dealing with these problems using appropriate re-modeling of the laparoscopic equipment and image processing algorithms, as to increase the perception ability of the surgeon within the operation space. We demonstrate...
This paper outlines a semi-automated intra-operative fluoroscopy guidance and monitoring approach for osteotomy and external-fixator application in orthopedic surgery. Intra-operative Guidance module is one component of the "LegPerfect Suite" developed for assisting the surgical correction of lower extremity angular deformity. The Intra-operative Guidance module utilizes information from...
Investigation of infarct myocardium structure will lead to better understanding of functional adaptation and remodeling. Diffusion tensor magnetic resonance imaging (DTI) provides a means for rapid and nondestructive characterization of the three-dimensional fiber architecture of myocardium. DTI studies were performed on 10 excised, formalin-fixed hearts of both infarct (two months after left anterior...
In the commercially available robot-assisted surgical systems, camera vision constitutes the only flow of data from the patient side to the surgeon side. This paper studies how various modalities for feedback of interaction between a surgical tool and soft tissue can improve the efficiency of a typical surgical task. Utilizing a haptics-enabled master-slave test-bed for minimally invasive surgery,...
This paper presents a new method of amplifying the small reaction force in the minimally invasive surgical system according to the surgeon's intended action. For this purpose, the analysis of the laparoscopic cholecystectomy procedure is first studied. The procedure is broken down and analyzed for the necessary forceps actions based on the degrees of freedom of the surgical tool and the task to be...
This project concerns the application of haptic feedback to a virtual reality laparoscopic surgery simulator. Haptic attributes such as mass, friction, stiction, elasticity, roughness and viscosity are individually modeled, validated and applied to the existing visual simulation created by researchers at Monash University. Validation studies has shown that refinements to our mechanical interface improves...
Teleoperated robot-assisted surgical systems provide surgeons with improved precision, dexterity, and visualization over traditional minimally invasive surgery. The addition of haptic (force and/or tactile) feedback has been proposed as a way to further enhance the performance of these systems. However, due to limitations in sensing and control technologies, implementing direct haptic feedback to...
In order to realize intelligent laparoscopic surgical robot, a vision integrated system constitutes one of the fundamental components. The authors have constructed a vision framework in the current version of NCC (National Cancer Center) laparoscopic surgical robot controlled on a real-time OS (RTLinux-Pro, FSMLabs Inc., U.S.A.). Adding vision framework, we have been applying and testing image processing...
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