Toward Improving Safety in Neurosurgery with an Active Handheld Instrument

Annals of Biomedical Engineering
Sara MocciaC N Riviere

Abstract

Microsurgical procedures, such as petroclival meningioma resection, require careful surgical actions in order to remove tumor tissue, while avoiding brain and vessel damaging. Such procedures are currently performed under microscope magnification. Robotic tools are emerging in order to filter surgeons' unintended movements and prevent tools from entering forbidden regions such as vascular structures. The present work investigates the use of a handheld robotic tool (Micron) to automate vessel avoidance in microsurgery. In particular, we focused on vessel segmentation, implementing a deep-learning-based segmentation strategy in microscopy images, and its integration with a feature-based passive 3D reconstruction algorithm to obtain accurate and robust vessel position. We then implemented a virtual-fixture-based strategy to control the handheld robotic tool and perform vessel avoidance. Clay vascular phantoms, lying on a background obtained from microscopy images recorded during petroclival meningioma surgery, were used for testing the segmentation and control algorithms. When testing the segmentation algorithm on 100 different phantom images, a median Dice similarity coefficient equal to 0.96 was achieved. A set of 25 Micron tria...Continue Reading

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Citations

Sep 14, 2018·Annals of Biomedical Engineering·Daniel S ElsonCameron Riviere
Jun 17, 2020·Expert Review of Medical Devices·Amir BaghdadiGarnette R Sutherland
Jul 1, 2020·Annals of Biomedical Engineering·Paolo ZaffinoMaria Francesca Spadea
Mar 27, 2020·Medical & Biological Engineering & Computing·Ilaria PatriniElena De Momi
Nov 16, 2019·Medical & Biological Engineering & Computing·Tiago AraújoSara Moccia
Nov 25, 2020·Computer Methods and Programs in Biomedicine·Aldo MarzulloElena De Momi
May 20, 2021·International Journal of Computer Assisted Radiology and Surgery·Neeraja KonuthulaRandall A Bly

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Software Mentioned

SURF
Amazon Machine Image ( AMI )
ADAM
OpenCV
Navio
FLANN
neuroArm
Caffe
Micron

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