Share Email Print
cover

Proceedings Paper

Increasing safety of a robotic system for inner ear surgery using probabilistic error modeling near vital anatomy
Author(s): Neal P. Dillon; Michael A. Siebold; Jason E. Mitchell; Gregoire S. Blachon; Ramya Balachandran; J. Michael Fitzpatrick; Robert J. Webster III
Format Member Price Non-Member Price
PDF $17.00 $21.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

Safe and effective planning for robotic surgery that involves cutting or ablation of tissue must consider all potential sources of error when determining how close the tool may come to vital anatomy. A pre-operative plan that does not adequately consider potential deviations from ideal system behavior may lead to patient injury. Conversely, a plan that is overly conservative may result in ineffective or incomplete performance of the task. Thus, enforcing simple, uniform-thickness safety margins around vital anatomy is insufficient in the presence of spatially varying, anisotropic error. Prior work has used registration error to determine a variable-thickness safety margin around vital structures that must be approached during mastoidectomy but ultimately preserved. In this paper, these methods are extended to incorporate image distortion and physical robot errors, including kinematic errors and deflections of the robot. These additional sources of error are discussed and stochastic models for a bone-attached robot for otologic surgery are developed. An algorithm for generating appropriate safety margins based on a desired probability of preserving the underlying anatomical structure is presented. Simulations are performed on a CT scan of a cadaver head and safety margins are calculated around several critical structures for planning of a robotic mastoidectomy.

Paper Details

Date Published: 18 March 2016
PDF: 15 pages
Proc. SPIE 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, 97861G (18 March 2016); doi: 10.1117/12.2214984
Show Author Affiliations
Neal P. Dillon, Vanderbilt Univ. (United States)
Michael A. Siebold, Vanderbilt Univ. (United States)
Jason E. Mitchell, Vanderbilt Univ. (United States)
Gregoire S. Blachon, Vanderbilt Univ. Medical Ctr. (United States)
Ramya Balachandran, Vanderbilt Univ. Medical Ctr. (United States)
J. Michael Fitzpatrick, Vanderbilt Univ. (United States)
Robert J. Webster III, Vanderbilt Univ. Medical Ctr. (United States)


Published in SPIE Proceedings Vol. 9786:
Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling
Robert J. Webster III; Ziv R. Yaniv, Editor(s)

© SPIE. Terms of Use
Back to Top