Name
Abstract | ||
|---|---|---|
This paper presents a system to supervise tissue temperature during robotic laser surgery. The use of robotic systems for laser surgery provides mechanisms to control the motion of the laser beam and the exposure time of laser radiation, allowing the automatic generation of incisions. This work focuses on the perception side of the problem, developing a technology for the online verification of the thermal state of the tissue during robotic laser microsurgery. Obtaining this information is paramount to enable automatic control of laser incision quality, which is directly related to tissue temperature. A model learned from real data estimates the change in temperature given the exposure time and power of the laser. The model is implemented in the real system and validated during laser incisions on ex-vivo tissue. Results show that the model can reliably estimate the thermal state of the tissue in real-time, and thus is suitable to produce feedback for automatic control of laser incisions. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/BIOROB.2014.6913803 | BioRob |
Keywords | Field | DocType |
biological tissues,biothermics,feedback,laser applications in medicine,learning (artificial intelligence),medical computing,medical robotics,physiological models,quality control,radiation therapy,real-time systems,surgery,automatic incision generation,automatic laser incision control,automatic laser incision quality control,ex vivo tissue incision,feedback production,laser beam motion control mechanism,laser exposure time,laser power,laser radiation exposure time control mechanism,online tissue thermal state verification technology,real system implementation,real-time tissue thermal state estimation,robotic laser microsurgery,robotic system,temperature change estimation,thermal supervision,tissue temperature model learning,robots,data models | Data modeling,Microsurgery,Thermal,Simulation,Laser,Automatic control,Control engineering,Engineering,Laser surgery,Robot,Laser beams | Conference |
ISSN | Citations | PageRank |
2155-1774 | 0 | 0.34 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Diego Pardo | 1 | 12 | 1.80 |
| Fichera, L. | 2 | 0 | 0.34 |
| Darwin G. Caldwell | 3 | 2900 | 319.72 |
| Leonardo S. Mattos | 4 | 123 | 28.31 |