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An endoscopic 3D structured illumination imaging system for robotic anastomosis surgery (Conference Presentation)
Author(s): Hanh N. D. Le; Hieu Nguyen; Zhaoyang Wang; Justin Opfermann; Simon Leonard; Axel Krieger; Jin Kang

Paper Abstract

Surgical 3D endoscopy based on structured illumination has been built and evaluated for application in minimally invasive anastomosis surgery which offers advantages of smaller incision, low risk of infection, quick recovery times and reduced blood loss. When combined with robotic manipulations, surgeons can perform surgical tasks with higher precision and repeatability. For reconstructive surgery such as anastomosis, a supervised laparoscopic anastomosis using a surgical robot has recently been reported with an open-surgery approach using a large 3D camera. To push the technology into minimally-invasive setting, we report an endoscopic 3D system based on structured illumination technique to assist the surgical robot, particularly in anastomosis surgery. The recorded structural profile achieves a high depth quantification of 250 um for static objects, with 25 mm depth of field. The proposed system can be integrated into a flexible holding arm to move in accordance with the surgical robotic arm. We characterize the system performance using multiple porcine intestinal tissue samples with variations in surface textures, tissue pigmentation and thickness.

Paper Details

Date Published: 5 April 2018
Proc. SPIE 10484, Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVI, 104840C (5 April 2018); doi: 10.1117/12.2290564
Show Author Affiliations
Hanh N. D. Le, Johns Hopkins Univ. (United States)
Hieu Nguyen, The Catholic Univ. of America (United States)
Zhaoyang Wang, The Catholic Univ. of America (United States)
Justin Opfermann, Children's National Health System (United States)
Simon Leonard, Johns Hopkins Univ. (United States)
Axel Krieger, Univ. of Maryland, College Park (United States)
Jin Kang, Johns Hopkins Univ. (United States)

Published in SPIE Proceedings Vol. 10484:
Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVI
Tuan Vo-Dinh; Anita Mahadevan-Jansen; Warren S. Grundfest, Editor(s)

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