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Functionally Accurate Robotic Surgery

Deliverables

Development of a behaviour-based framework for autonomous execution of surgical activities based on non-visual and non-conventional sensors

This deliverable reports on the innovative framework for behaviourbased control An example scenario is reported upon

Functional action models for PSP and ELD

overview of layout and sensory schemes for functional modelling of PSP and ELD Critical analysis of predictive power of action models

Hyperspectral mapping in PSP and ELD

design and integration of HSM in PSP and ELD applications design considerations and early results

Derivation of functional specifications based on interventional plan

this deliverable summarizes the relevant functional parameters for PSP and ELD interventions and describes a method to compute these parameters based on patientdata

State-of-the-art of non-radiative non-visual spine sensing

literature survey and validation tests of some promising nonvisual and nonconventional sensors and their suitability for spine sensing The report is written in the form of a review paper that FAROS will submit for publication if deemed relevant for the wider community

Functional surgical observation modelling for PSP and ELD

overview of layout and sensory schemes for functional modelling of PSP and ELD Performance analysis and recommendations

A review on intraoperative tissue classification methods

survey of the stateoftheart methods for tissue classification report of first results of FAROS classification techniques

Sound and ultrasound in spine surgery

design guidelines for deployment of sound and ultrasound sensing in spine surgical interventions

Integration status report

continuing on SIP D45 describes the current state of the integrated system relative to the SIP Mitigation plans will be elaborated if discrepancies are identified

Project Leaflet

flyer is ready for introducing the FAROS project to the broad public

Project Home Page

Home Page featuring the concepts of functional accuracy physical intelligence and their envisioned application on the targeted spine surgical applications The site is a dynamic page with newsflashes links to social media demonstration movies list of publications to source datasets and open access publications The page is a common hub for all FAROS work

Data Management Plan (DMP)

The DMP describes the approach to management of data sensitive confidential andor open and open source as well as the regulations on how to make data or source available for the public

Publications

Surgical Process Modeling for Open Spinal Surgeries

Author(s): Fabio Carrillo, Hooman Esfandiari, Sandro Müller, Marco von Atzigen, Aidana Massalimova, Daniel Suter, Christoph J. Laux, José M. Spirig, Mazda Farshad and Philipp Fürnstahl
Published in: Frontiers in Surgery, Issue Front. Surg. 8:776945., 2022, ISSN 2296-875X
Publisher: Frontiers Media SA
DOI: 10.3389/fsurg.2021.776945

Intraoperative tissue classification methods in orthopedic and neurological surgeries: A systematic review

Author(s): Aidana Massalimova, Maikel Timmermans, Hooman Esfandiari, Fabio Carrillo, Christoph J. Laux, Mazda Farshad, Kathleen Denis and Philipp Fürnstahl
Published in: Frontiers in Surgery, Issue 9:952539, 2022, Page(s) 20, ISSN 2296-875X
Publisher: Frontiers Media S.A.
DOI: 10.3389/fsurg.2022.952539

Intraoperative hyperspectral label-free imaging: from system design to first-in-patient translation

Author(s): Michael Ebner, Eli Nabavi, Jonathan Shapey, Yijing Xie, Florentin Liebmann, José Miguel Spirig, Armando Hoch, Mazda Farshad, Shakeel R Saeed, Robert Bradford, Iain Yardley, Sébastien Ourselin, A David Edwards, Philipp Führnstahl, Tom Vercauteren
Published in: Journal of Physics D: Applied Physics, Issue 54/29, 2021, Page(s) 294003, ISSN 0022-3727
Publisher: Institute of Physics Publishing
DOI: 10.1088/1361-6463/abfbf6

Robotic Endoscope Control via Autonomous Instrument Tracking

Author(s): Caspar Gruijthuijsen, Luis C Garcia-Peraza-Herrera, Gianni Borghesan, Dominiek Reynaerts, Jan Deprest, Sébastien Ourselin, Tom Vercauteren, Emmanuel Vander Poorten
Published in: Frontiers in Robotics and AI, Issue 9:832208, 2022, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2022.832208

Deep homography estimation in dynamic surgical scenes for laparoscopic camera motion extraction

Author(s): Martin Huber, Sébastien Ourselin, Christos Bergeles, Tom Vercauteren
Published in: Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization, Issue 10:3, 2022, Page(s) 321-329, ISSN 2168-1171
Publisher: Taylor & Francis
DOI: 10.1080/21681163.2021.2002195

Deep learning approach for hyperspectral image demosaicking, spectral correction and high-resolution RGB reconstruction

Author(s): Peichao Li, Michael Ebner, Philip Noonan, Conor Horgan, Anisha Bahl, Sébastien Ourselin, Jonathan Shapey, Tom Vercauteren
Published in: Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization, Issue 10:4, 2022, ISSN 2168-1171
Publisher: Taylor & Francis
DOI: 10.1080/21681163.2021.1997646

Quantitative Assessment of Calibration Motion Profiles in Robotic-assisted Ultrasound System

Author(s): Maarten Schoovaerts; Ruixuan Li; Kenan Niu; Emmanuel Vander Poorten
Published in: 2022 International Symposium on Medical Robotics (ISMR), 2022, Page(s) 1-7, ISBN 978-1-6654-6928-9
Publisher: IEEE
DOI: 10.1109/ismr48347.2022.9807524

Automatic Robotic Scanning for real-time 3D Ultrasound Reconstruction in Spine Surgery

Author(s): Ruixuan Li; Ayoob Davoodi; Kenan Niu; Yuyu Cai; Emmanuel Vander Poorten
Published in: Proceeding of the 11th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, 2022, Page(s) 22-23
Publisher: CRAS

Automatic bone breach detection for spine surgery based on bio-electrical conductivity sensing: Ex-vivo experimental validation

Author(s): Jimmy Da Silva, Elie Saghbiny, Thibault Chandanson, Stéphane Bette, Maurice Bourlion, Guillaume Morel
Published in: Proceedings of the 11th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2022), Issue 2022, 2022, Page(s) 86-87
Publisher: CRAS consortium

Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation

Author(s): Martin Huber, John Bason Mitchell, Ross Henry, Sébastien Ourselin, Tom Vercauteren, Christos Bergeles
Published in: 2021 International Symposium on Medical Robotics (ISMR), 2021, ISBN 978-1-6654-0622-2
Publisher: IEEE
DOI: 10.1109/ismr48346.2021.9661563

Posterior landmark-based registration-free method to identify screw trajectories for robot-based navigation: a proof-of-concept

Author(s): D. Suter, A. Massalimova, C. Laux, F. Carrillo, M. Farshad, P. Fürnstahl
Published in: Proceeding of the 11th Joint Conference on New Technologies for Computer/Robot Assisted Surgery, 2022, Page(s) 114-115
Publisher: University of Naples

A Framework for Fast Automatic Robot Ultrasound Calibration

Author(s): Ruixuan Li, Kenan Niu and Emmanuel Vander Poorten
Published in: 2021 International Symposium on Medical Robotics (ISMR), 2021, Page(s) 1-7, ISBN 978-1-6654-0622-2
Publisher: IEEE
DOI: 10.1109/ismr48346.2021.9661495

Comparative Quantitative Analysis of Robotic Ultrasound Image Calibration Methods

Author(s): Ruixuan Li; Yuyu Cai; Kenan Niu; Emmanuel Vander Poorten
Published in: 2021 20th International Conference on Advanced Robotics (ICAR), 2021, Page(s) 1-6, ISBN 978-1-6654-3684-7
Publisher: IEEE
DOI: 10.1109/icar53236.2021.9659341

Toward automatic bone breach detection for spine surgery using tissue bio-electrical conductivity sensing

Author(s): Elie Saghbiny, Jimmy Da Silva, Célia Chaimi, Thibault Chandanson, Guillaume Morel and Raphaël Vialle
Published in: Proceeding of the 11th Joint Workshop on New Technologies for Computer and Robot Assisted Surgery, Issue 2022, 2022, Page(s) 94-95
Publisher: CRAS consortium

Force control of the KUKA LBR Med without external force sensor

Author(s): Jimmy Da Silva, Saman Vafadar, Thibault Chandanson, Guillaume Morel
Published in: Proceedings of the 11th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2022), Issue 2022, 2022, Page(s) 88-89
Publisher: CRAS consortium

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