Automated Realtime Imaging for Laparoscopic Interventions

• Applicants: Professor Dr. Tim C. Lüth; Professor Dr. Jens-Uwe Stolzenburg
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics ; Epidemiology and Medical Biometry/Statistics
• Term: from 2009 to 2021
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 106863815

Minimal invasive (laparoscopic) interventions within the abdominal cavity are more and more preferred to open interventions. Intraoperative imaging during these surgeries is primarily performed via specialized endoscopes (laparoscopes). However, laparoscopes provide the surgeon only with superficial images, i.e., there is only limited information available about the interior of the surgical field during the intervention. This lack of information may lead to un-necessary high blood loss if blood vessels are injured or to incomplete tumor resections. Ultra-sonography provides intraoperative real-time imaging of the interior of the surgical field and thus may overcome afore described problems. Nevertheless, existing sonographic approaches are not suitable for this application.The goal of this project is to provide the surgeon with real-time images from inside the surgical field without increased manpower requirements. In the first phase of the project we created the basis for the project by successfully designing and evaluating a robotic concept. The robot moves a transcutaneous ultrasound probe in two translational degrees of freedom. It can be integrated with the operating room table.In the next phase of the project our goal is to extend the existing concept in the three areas: robot, robot control, and visualization. To move the robot-s ultrasound probe similar to a hand guided probe, we have to extend the kinematics by two additional rotational degrees of free-dom. To assure a smooth integration into the operational workflow, a feasible integration concept for the robot must be developed. Our goal is to develop a fast and accurate steering method with minimal additional complexity. Hence, different manual (telemanipulation) and automatic control concepts need to be evaluated to optimize the steering of the robot. Manual steering should be possible by position or speed control. Automatic approaches try to align the ultrasound probe automatically with the surgical field. To ease the interpretation of the ultra-sound images, new visualization methods need to be developed. Ultrasound images are always interpreted within the anatomical context. Therefore, we want to overlay the ultrasound images on the laparoscopic images to visualize the recording position for the surgeon. To help the surgeon to automatically detect anatomic danger zone they will be highlighted within the ultra-sound images. To improve the ergonomics of the surgeon we want to investigate the optimal location for the newly gained image information to minimize the effort of the surgeon to switch between different imaging modalities.

• DFG Programme: Research Grants