Abdominal Lighting Simulation System Based On Mini Robots
DOI:
https://doi.org/10.17981/ingecuc.17.2.2021.14Keywords:
image analysis, mini lighting robots, mini robots, surgical robotics, Unity3DAbstract
Introduction: This document shows a system that simulates the illumination of the abdominal scene in laparoscopic operations using mini robots. The mini robots would be magnetically tied to the abdominal cavity and manipulated by an external robot arm. Two algorithms are tested in this system: one that moves the mini robot according to the movement of the endoscope, and another that moves from an analysis of the image captured by the scene.
Objective: To contribute to the illumination of the surgical scene by means of mini robots attached magnetically to the abdominal cavity.
Methodology: A software tool was developed using Unity3D, which simulates the interior of the abdomen in laparoscopic operations, adding a new lighting: a mini light-type robot magnetically anchored to the abdominal wall. The mini robot has two different movements to illuminate the scene, one depends on the movement of the endoscope and the other on the image analysis performed.
Results: Tests were performed with a representation of the real environment comparing it with the tests in the built tool, obtaining similar results and showing the potential of a mini robot to provide additional lighting to the surgeon if necessary.
Conclusions: The designed algorithm allows a mini robot that is magnetically anchored in the abdominal wall to move to low-light areas following two options: a geometric relationship or movement as a result of image analysis.
Downloads
References
D. Ruiz-Navas, V. Z., Pérez-Ariza, M. J. Betancur-Betancur, y J. Bustamante-Osorno, “Cirugía robótica mínimamente invasiva: análisis de fuerza y torque,” Rev Ing Biom, vol. 4, no. 8, pp. 84–92, 2014. Disponible en http://repository.eia.edu.co/handle/11190/492
G. Galloso & R. Frías, “Consideraciones sobre la evolución histórica de la cirugía laparoscópica: colecistectomía,” Rev Med Electrón, vol. 32, sup. 7, pp. 0–0, 2010. Disponible en http://www.revmedicaelectronica.sld.cu/index.php/rme/article/view/786
C. Brunicardi, Schwartz principios de cirugía. CDMX, MX: Mc Graw Hill, 2015.
P. Ricci, R. Lema, V. Solá, J. Pardo y E. Guiloff, “Desarrollo de la cirugía laparoscópica: pasado, presente y futuro: desde Hipócrates hasta la introducción de la robótica en laparoscopía ginecológica,” Rev chil Obstet Ginecol, vol. 73, no. 1, pp. 63–75, Feb. 2008. https://dx.doi.org/10.4067/S0717-75262008000100011
S. Longmore, G. Naik y G. Gargiulo , “Laparoscopic Robotic Surgery: Current Perspective and Future Directions,” Robotics, vol. 9, no 2, pp. 42, 2020. https://dx.doi.org/10.3390/robotics9020042
M. Tiwari, J. F. Reynoso, A. C. Lehman, A. W. Tsang, S. M. Farritor y D. Oleynikov , “In vivo miniature robots for natural orifice surgery: State of the art and future perspectives,” World J. Gastrointest. Surg., vol. 2, no. 6, pp. 217, 2010. https://dx.doi.org/10.4240/wjgs.v2.i6.217
J. Raman, J. A. Cadeddu, P. Rao & A. Rane , “Single-incision laparoscopic surgery: initial urological experience and comparison with natura-orifice transluminal endoscopic surgery,” BJU Inter, vol. 101, no. 12, pp. 1493–1496, 2008. https://dx.doi.org/10.1111/j.1464-410X.2008.07586.x
J. Noguera, C. Moreno, A. Cuadrado, J. M. Olea, R. Morales, J. C. Vicens, M. L. Herrero y L. Lozano, “Historia y situación actual de la cirugía endoscópica por orificios naturales en nuestro país,” Cir Esp, vol. 88, no 4, pp. 222–227, 2010. https://dx.doi.org/10.1016/j.ciresp.2010.03.046
B. Peters, P. R. Armijo, C. Krause, S. A. Choudhury & D. Oleynikov , “Review of emerging surgical robotic technology,” Surg Endosc, vol 32, no. 4, pp. 1–20, 2018. https://dx.doi.org/10.1007/s00464-018-6079-2
T. Wortman, “Design, analysis, and testing of in vivo surgical robots,” M. Sc., Dept Mech Mat Eng, UNL, NE, USA, 2011. Disponible en https://digitalcommons.unl.edu/mechengdiss/28/
M. Rentschler & D. Oleynikov, “Recent in vivo surgical robot and mechanism developments,” Surg Endosc, vol. 21, no 9, pp. 1477–1481, 2007. https://dx.doi.org/10.1007/s00464-007-9338-1
M. Cuevas-Rodríguez, B. Estébanez, E. Bauzano, I. Rivas-Blanco, I. Garcia-Morales, V. F. Muñoz, L. D. Lledo y J. M. Sabater, “Integración de una plataforma robótica de asistencia al cirujano en operaciones laparoscópicas de puerto único,” presentado en XXXV Jornadas de Automática, CEA, VLC, ES, 2014. Recuperado de http://www.ja2014.upv.es/wp-content/uploads/papers/paper_51.pdf
I. Rivas-Blanco, , B. Estebanez, M. Cuevas-Rodríguez, I. García-Morales y V. F. Muñoz, “Diseño de un asistente camarógrafo para técnicas de cirugía laparoscópica por puerto único,” presentado en XXXV Jornadas de Automática, CEA, VLC, ES, 2014. Disponible en http://www.ja2014.upv.es/
Gobierno de España, Micro Abdominal Robot Cooperative System, Proyecto MARCUS, [online , 2022. Disponible en http://www.roboticamedica.uma.es/marcus/INDEX.PHP/
M. C. Chaparro & O. A. Vivas, “Tool for optimum illumination of the abdominal cavity in laparoscopic surgeries using lighting mini robots,” presentado en Colombian Conference on Robotics and Automation, PAHCE, BTA, CO, PAHCE, 2016. https://dx.doi.org/10.1109/ccra.2016.7811405
C. A Suárez, Cirugía Laparoscópica, J. Cueto y A. Weber (eds.), BAR, ES, McGraw-Hill, 1988.
I. Halim, & A. Tavakkolizadeh, “NOTES: The next surgical revolution?,” Int J Surg, vol. 6, no. 4, pp. 273–276, 2008. https://dx.doi.org/10.1016/j.ijsu.2007.10.002
D. Vera & A. Vivas, “Ambiente virtual para el entrenamiento de cirugías laparoscópicas utilizando robots,” presentado en Pan American Health Care Exchanges, PAHCE, MDE, CO, 2013. Disponible en https://www.pahce.org/
S. Tognarelli, M. Salerno, G. Tortora, C. Quaglia, P. Dario, M. O. Schurr & A. Menciassi , “A miniaturized robotic platform for natural orifice transluminal endoscopic surgery: in vivo validation,” Surg Endosc, vol. 29, no. 12, pp. 3477–3484, 2015. https://dx.doi.org/10.1007/s00464-015-4097-x
B.P.M Yeung & T. Gourlay, “A technical review of flexible endoscopic multitasking platforms,” Int J Surg, vol. 10, no. 7, pp. 345–354, 2012. https://dx.doi.org/10.1016/j.ijsu.2012.05.009
ViaCath diagnostic catheters, Biotronik, [online , 2022. Recuperado de www.biotronik.com/sixcms/media.php/136/ViaCath_EN.pdf
R. Sotelo, J. C. Astigueta, O. Carmona, R. De Andrade y R. Sanchez-Salas, “Laparoendoscopia por acceso único: experiencia inicial,” Actas Urol Esp, vol. 33, no. 2172–181, 2009. https://dx.doi.org/10.1016/s0210-4806(09)74119-1
J. M. Sabater-Navarro, R. J. Saltaren, J. M. Ibarra-Zannatha, L. E. Rodriguez Cheu, A. Vivas, J. C. Politti, J. Serracin y E. Rubio, Robotica Medica – Notas prácticas para el Aprendizaje de la Robótica en Bioingenierıa. BAR, ES: Opensurg, 2013
S. Martel, “Journey to the center of a tumor,” IEEE Spect, vol. 49, no 10, pp. 48–53, 2012. https://dx.doi.org/10.1109/mspec.2012.6309256
R. Bogue, “Miniature and microrobots: a review of recent developments,” Ind Rob, vol. 42, no. 2, pp. 98–102, 2015. https://dx.doi.org/10.1108/ir-11-2014-0409
A. Forgione, “In vivo microrobots for natural orifice transluminal surgery. Current status and future perspectives,” Surg Oncol, vol. 18, no. 2, pp. 121–129, Jun. 2009. https://dx.doi.org/10.1016/j.suronc.2008.12.006
B. Chen, Y.-D. Liu, S. Chen, S.-R. Jiang & H.-T. Wu, “A biomimetic spermatozoa propulsion method for interventional micro robot,” J Bionic Eng, vol. 5, Sup., pp. 106–112, 2008. https://dx.doi.org/10.1016/S1672-6529(08)60080-3
K. Tokida, A. Yamaguchi, K. Takemura, S. Yokota & K. Edamura, “A bio-inspired robot using electro-conjugate fluid,” J Robot Mechatron, vol. 25, no. 1, pp. 16–24, 2013. https://dx.doi.org/10.20965/jrm.2013.p0016
J. Eid & D. Oleynikov, Cooperative and Miniature Robotics: Potential Applications in Surgery. In: S. Atallah (eds), Dig Surg, Cham, Springer, pp. 269–273, 2020. https://dx.doi.org/10.1007/978-3-030-49100-0_20
M. Simi, G. Gerboni, A. Menciassi & P. Valdastri, “Magnetic mechanism for wireless capsule biopsy,” J Med Devices, vol. 6, no. 1, pp. 17611, 2012. https://dx.doi.org/10.1115/1.40267899
S. Ueno, K. Takemura, S. Yokota & K. Edamura, “Micro inchworm robot using electro-conjugate fluid,” Sens, vol. 216, pp. 36–42, 2014. https://dx.doi.org/10.1016/j.sna.2014.04.032
J. D. Raman, D. J. Scott & J. Cadeddu, “A. Role of magnetic anchors during laparoendoscopic single site surgery and NOTES,” J Endourol, vol. 23, no. 5, pp. 781–786, 2009. https://dx.doi.org/10.1089/end.2008.0033
S. Tognarelli, M. Salerno, G. Tortora, C. Quaglia, P. Dario & A. M enciassi, “An endoluminal robotic platform for Minimally Invasive Surgery,” presentado en 4th IEEE RAS & EMBS, BioRob, Ro, It, pp. 7–12, 2012. https://dx.doi.org/10.1109/BioRob.2012.6290731
B. S. Terry, Z. C. Mills, J. A. Schoen & M. E. Rentschler, “Single-port-access surgery with a novel magnet camera system,” Trans Biomed Eng, vol. 59, no. 4, pp. 1187–1193, 2012. https://dx.doi.org/10.1109/TBME.2012.2187292
J.C Kuo, H.-W. Huang, S.-W. Tung & Y.-J. Yang, “A hydrogel-based intravascular microgripper manipulated using magnetic fields,” Sens, vol. 211, pp. 121–130, May. 2014. https://dx.doi.org/10.1016/j.sna.2014.02.028
J. Cadeddu, R. Fernández, M. M. Desai, R. Bergs, C. R. Tracy, S.-J. Tang & M. R. Desai, “Novel magnetically guided intra-abdominal camera to facilitate laparoendoscopic single-site surgery: initial human experience,” Surg Endosc, vol. 23, no. 8, pp. 1894–1899, 2009. https://dx.doi.org/10.1016/s0022-5347(09)60900-9
S.L Best, S. L. Best, W. Kabbani, D. J. Scott, R. Bergs, H. Beardsley, R. Fernández, L. B. Mashaud & J. A. Cadeddu, “Magnetic anchoring and guidance system instrumentation for laparo-endoscopic single-site surgery/natural orifice transluminal endoscopic surgery: lack of histologic damage after prolonged magnetic coupling across the abdominal wall,” Urology, vol. 77, no. 1, pp. 243–247, 2011. https://dx.doi.org/10.1016/j.urology.2010.05.041
N.A Arain, L. Rondon, D. C. Hogg, J. A. Cadeddu, R. Bergs, R. Fernández & D. J. Scott , “Magnetically anchored camera and percutaneous instruments maintain triangulation and improve cosmesis compared with single-site and conventional laparoscopic cholecystectomy,” Surg Endosc, vol. 26, no. 12, pp. 3457–3466, 2012. https://dx.doi.org/10.1007/s00464-012-2354-9
R. Steinberg, B. A. Johnson, M. Meskawi, M. T. Gettman & J. A. Cadeddu, “Magnet-Assisted Robotic Prostatectomy Using the da Vinci SP Robot: An Initial Case Series,” J Endourol, vol. 33, no. 10, pp. 829–834, 2019. https://dx.doi.org/10.1089/end.2019.0263
D. Oleynikov, M. Rentschler, A. Hadzialic, J. Dumpert, S. R. Platt & S. Farritor, “Miniature robots can assist in laparoscopic cholecystectomy,” Surgical Endoscopy, vol. 19, no. 4, pp. 473–476, 2005. https://dx.doi.org/10.1007/s00464-004-8918-6
G. Yin, Gang Yin, W. K. Han, S. Faddegon, Y. K. Tan, Z.-W. Liu, E. O. Olweny, D. J. Scott & J. A. Cadeddu, “Laparoendoscopic single site (LESS) in vivo suturing using a magnetic anchoring and guidance system (MAGS) camera in a porcine model: impact on ergonomics and workload,” Urology, vol. 81, no. 1, pp. 80–84, 2013. https://dx.doi.org/10.1016/j.urology.2012.09.018
M. Karimi, S. S. Ghidary, R. Shekhar, T. D. Kane & R. Monfaredi, “Magnetically anchored pan-tilt stereoscopic robot with optical-inertial stabilization for minimally invasive surgery,” presented at Medical Imaging 2019, SPIE, SD, CA, USA, 2019. https://dx.doi.org/10.1117/12.2513019
MIRA, Virtual Incision, [online , 2022. Disponible en https://virtualincision.com/
D. Stoyanov, D. Elson & G. Z Yang, “Illumination position estimation for 3D soft-tissue reconstruction in robotic minimally invasive surgery,” presented at International Conference on Intelligent Robots and Systems, RSJ, Louis, MO, USA, pp. 2628–2633, Oct. 2009. https://dx.doi.org/10.1109/IROS.2009.5354447
R. T Shimotsu & C. G Cao, “The effect of color-contrasting shadows on a dynamic 3-D laparoscopic surgical task,” IEEE Trans Syst Man Cybern: Syst, vol. 37, no. 6, pp. 1047–1053, 2007. https://dx.doi.org/10.1109/tsmca.2007.904738
D. Pakhomov, V. Premachandran, M. Allan, M. Azizian & N. Navab, Deep residual learning for instrument segmentation in robotic surgery. In: H. Suk, M. Liu, P. Yan & C. Lian (eds), Machine Learning in Medical Imaging, Cham, Springer, pp. 566–573, 2019. https://dx.doi.org/10.1007/978-3-030-32692-0_65
S. Tchoulack, J. P Langlois & F. Cheriet, “A video stream processor for real-time detection and correction of specular reflections in endoscopic images,” presented at Joint 6th International IEEE Northeast Workshop on Circuits and Systems and TAISA Conference, IEEE, Montreal, QC, CA, pp. 42–59, 2008. https://dx.doi.org/10.1109/newcas.2008.4606318
J.J Guo, D.-F. Shen, G.-S. Lin, J.-C. Huang, K.-C. Liu & W.-N. Lie, “A specular reflection suppression method for endoscopic images,” presented at IEEE Second International Conference on Multimedia Big Data, BigMM, TPE, TW, pp. 125–128, 2016. https://dx.doi.org/10.1109/bigmm.2016.78
D. Stoyanov & G. Z. Yang, “Removing specular reflection components for robotic assisted laparoscopic surgery,” presented at IEEE International Conference on Image Processing, IEEE, GE, IT, pp. III–632, 2005. https://dx.doi.org/10.1109/icip.2005.1530471
A. C Lee, D. S. Elson, M. A. Neil, S. Kumar, B. W. Ling, F. Bello & G. B. Hanna , “Solid-state semiconductors are better alternatives to arc-lamps for efficient and uniform illumination in minimal access surgery,” Surg Endosc, vol. 23, no. 3, pp. 518–526, Mar. 2009. https://dx.doi.org/10.1007/s00464-008-9854-7
T. Hu, P. K. Allen, N. J. Hogle & D. L. Fowler, “Insertable surgical imaging device with pan, tilt, zoom, and lighting,” Int J Robot Res, vol. 28, no. 10, pp. 1373–1386, May. 2009. https://dx.doi.org/10.1177/0278364908104292
D.-H. Dong, H.-Y. Zhu, Y. Luo, H.-K. Zhang, J.-X. Xiang, F. Xue, R.-Q. Wu & Y. Lv , “Miniature magnetically anchored and controlled camera system for trocar-less laparoscopy,” World J Gastroenterol, vol. 23, no. 12, pp. 2168, 2017. https://dx.doi.org/10.3748/wjg.v23.i12.2168
M. Simi, M. Silvestri, C. Cavallotti, M. Vatteroni, P. Valdastri, A. Menciassi & P. Dario, “Magnetically activated stereoscopic vision system for laparoendoscopic single-site surgery,” IEEE/ASME Trans Mechatron, vol. 18, no. 3, pp. 1140–1151, 2012. https://dx.doi.org/10.1109/tmech.2012.2198830
A. R Yazdanpanah, X. Liu, N. Li & J. Tan.A novel laparoscopic camera robot with in-vivo lens cleaning and debris prevention modules,” presented at IROS, IEEE/RSJ, VBC, CA, pp. 3669–3674, 2017. https://dx.doi.org/10.1109/iros.2017.8206212
Boston Center Perú, Cirugía laparoscópica de estómago, [online , 2022. Disponible en http://cirugiaendoscopicaperu.com/?q=node/197
Open CV, Histogram calculation, [online , 2022. Disponible en https://docs.opencv.org/2.4/doc/tutorials/imgproc/histograms/histogram_calculation/histogram_calculation.html
Open CV, Histograms - 1: Find, Plot, Analyze, [online , 2022. Disponible en https://docs.opencv.org/3.1.0/d1/db7/tutorial_py_histogram_begins.html
Cambridge in Colour, Camera histograms: Tones & Contrast, [online , 2022. Disponible en http://www.cambridgeincolour.com/tutorials/histograms1.htm
Open CV, Histograms - 1: Find, Plot, Analyze, [online], 2022. Disponible en https://docs.opencv.org/3.1.0/d1/db7/tutorial_py_histogram_begins.html
Cambridge in Colour, Camera histograms: Tones & Contrast, [online], 2022. Disponible en http://www.cambridgeincolour.com/tutorials/histograms1.htm
Published
How to Cite
Issue
Section
License
Copyright (c) 2021 INGE CUC
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Published papers are the exclusive responsibility of their authors and do not necessary reflect the opinions of the editorial committee.
INGE CUC Journal respects the moral rights of its authors, whom must cede the editorial committee the patrimonial rights of the published material. In turn, the authors inform that the current work is unpublished and has not been previously published.
All articles are licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
English
Español (España)
