Comput Math Methods Med - Visual measurement of suture strain for robotic surgery.

Tópicos

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Resumo

Minimally invasive surgical procedures offer advantages of smaller incisions, decreased hospital length of stay, and rapid postoperative recovery to the patient. Surgical robots improve access and visualization intraoperatively and have expanded the indications for minimally invasive procedures. A limitation of the DaVinci surgical robot is a lack of sensory feedback to the operative surgeon. Experienced robotic surgeons use visual interpretation of tissue and suture deformation as a surrogate for tactile feedback. A difficulty encountered during robotic surgery is maintaining adequate suture tension while tying knots or following a running anastomotic suture. Displaying suture strain in real time has potential to decrease the learning curve and improve the performance and safety of robotic surgical procedures. Conventional strain measurement methods involve installation of complex sensors on the robotic instruments. This paper presents a noninvasive video processing-based method to determine strain in surgical sutures. The method accurately calculates strain in suture by processing video from the existing surgical camera, making implementation uncomplicated. The video analysis method was developed and validated using video of suture strain standards on a servohydraulic testing system. The video-based suture strain algorithm is shown capable of measuring suture strains of 0.2% with subpixel resolution and proven reliability under various conditions.

Resumo Limpo

minim invas surgic procedur offer advantag smaller incis decreas hospit length stay rapid postop recoveri patient surgic robot improv access visual intraop expand indic minim invas procedur limit davinci surgic robot lack sensori feedback oper surgeon experienc robot surgeon use visual interpret tissu sutur deform surrog tactil feedback difficulti encount robot surgeri maintain adequ sutur tension tie knot follow run anastomot sutur display sutur strain real time potenti decreas learn curv improv perform safeti robot surgic procedur convent strain measur method involv instal complex sensor robot instrument paper present noninvas video processingbas method determin strain surgic sutur method accur calcul strain sutur process video exist surgic camera make implement uncompl video analysi method develop valid use video sutur strain standard servohydraul test system videobas sutur strain algorithm shown capabl measur sutur strain subpixel resolut proven reliabl various condit

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