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A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery.

Abstract：

PURPOSE:Surgical quality in phonomicrosurgery can be improved by open-loop laser control (e.g., high-speed scanning capabilities) with a robust and accurate closed-loop visual servoing systems. A new vision-based system for laser scanning control during robot-assisted phonomicrosurgery was developed and tested. METHODS:Laser scanning was accomplished with a dual control strategy, which adds a vision-based trajectory correction phase to a fast open-loop laser controller. The system is designed to eliminate open-loop aiming errors caused by system calibration limitations and by the unpredictable topology of real targets. Evaluation of the new system was performed using CO(2) laser cutting trials on artificial targets and ex-vivo tissue. RESULTS:This system produced accuracy values corresponding to pixel resolution even when smoke created by the laser-target interaction clutters the camera view. In realistic test scenarios, trajectory following RMS errors were reduced by almost 80 % with respect to open-loop system performances, reaching mean error values around 30 μ m and maximum observed errors in the order of 60 μ m. CONCLUSION:A new vision-based laser microsurgical control system was shown to be effective and promising with significant positive potential impact on the safety and quality of laser microsurgeries.

journal_name

Int J Comput Assist Radiol Surg

journal_title

International journal of computer assisted radiology and surgery

authors

Dagnino G,Mattos LS,Caldwell DG

doi

10.1007/s11548-014-1078-9

subject

Has Abstract

pub_date

2015-02-01 00:00:00

pages

217-29

issue

2

eissn

1861-6410

issn

1861-6429

journal_volume

10

pub_type

杂志文章

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