Jeff A. Hawks

Vision and Task Assistance Using Modular Wireless In Vivo Surgical Robots

Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by nonmedical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient.

In Vivo Demonstration of Surgical Task Assistance Using Miniature Robots

Laparoscopy is beneficial to patients as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery. However, laparoscopy requires the manipulation of long, slender tools from outside the patients body. As a result, laparoscopy generally benefits only patients undergoing relatively simple procedures. An innovative approach to laparoscopy uses miniature in vivo robots that fit entirely inside the abdominal cavity. Our previous work demonstrated that a mobile, wireless robot platform can be successfully operated inside the abdominal cavity with different payloads (biopsy, camera, and physiological sensors). We hope that these robots are a step toward reducing the invasiveness of laparoscopy. The current study presents design details and results of laboratory and in vivo demonstrations of several new payload designs (clamping, cautery, and liquid delivery). Laboratory and in vivo cooperation demonstrations between multiple robots are also presented.

A modular wireless in vivo surgical robot with multiple surgical applications.

The use of miniature in vivo robots that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Previous work demonstrates that both mobile and fixed-based robots can successfully operate inside the abdominal cavity. A modular wireless mobile platform has also been developed to provide surgical vision and task assistance. This paper presents an overview of recent test results of several possible surgical applications that can be accommodated by this modular platform. Applications such as a biopsy grasper, stapler and clamp, video camera, and physiological sensors have been integrated into the wireless platform and tested in vivo in a porcine model. The modular platform facilitates rapid development and conversion from one type of surgical task assistance to another. These self-contained surgical devices are much more transportable and much lower in cost than current robotic surgical assistants. These devices could ultimately be carried and deployed by non-medical personnel at the site of an injury. A remotely located surgeon could use these robots to provide critical first response medical intervention.

Video capture and post-processing technique for approximating 3D projectile trajectory

Abstract In this paper we introduce a low-cost procedure and methodology for markerless projectile tracking in three-dimensional (3D) space. Understanding the 3D trajectory of an object in flight can often be essential in examining variables relating to launch and landing conditions. Many systems exist to track the 3D motion of projectiles but are often constrained by space or the type of object the system can recognize (Qualisys, Göteborg, Sweden; Vicon, Oxford, United Kingdom; OptiTrack, Corvallis, Oregon USA; Motion Analysis, Santa Rosa, California USA; Flight Scope, Orlando, Florida USA). These technologies can also be quite expensive, often costing hundreds of thousand dollars. The system presented in this paper utilizes two high-definition video cameras oriented perpendicular to each other to record the flight of an object. A post-processing technique and subsequent geometrically based algorithm was created to determine 3D position of the object using the two videos. This procedure and methodology was validated using a gold standard motion tracking system resulting in a 4.5 ± 1.8% deviation from the gold standard.

In vivo testing of noninvasive ICP monitoring methodology in a porcine model

Research has suggested that elevated intracranial pressure (ICP) can cause damage to the optic nerve and reduce visual acuity. There is a need for noninvasive ICP monitoring devices. A simple, portable device capable of measuring relative changes in ICP using a noninvasive methodology would have a significant impact on clinical care. The methodology presented in this paper utilizes transcranial Doppler ultrasonography to monitor ophthalmic artery hemodynamics while small forces are applied to cornea. In vivo testing using a porcine model results in a correlation between pulsatility or resistivity indices and ICP levels. Specifically, the change in these indices while force is applied decreases as ICP increases. The data collection prototype used in these experiments contained an ultrasound transducer instrumented with a load cell to measure force applied to the cornea. These experiments are an initial step towards adapting the data collection prototype into a handheld noninvasive ICP monitoring device.Copyright

Modular Wireless Wheeled

Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the patient’s body generally limits these benefits to patients undergoing procedures with relatively low complexity. The use of miniature in vivo robots that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work has demonstrated that mobile and fixedbased in vivo robots can successfully operate within the abdominal cavity and provide surgical vision and task assistance. All of these robots used tethers for power and data transmission. This paper describes recent work focused on developing a modular wireless mobile platform that can be used for in vivo sensing and manipulation applications. The robot base can accommodate a variety of payloads. Details of the designs and results of ex vivo and in vivo tests of robots with biopsy grasper and physiological sensor payloads are presented. These types of self-contained surgical devices are much more transportable and much lower in cost than current robotic surgical assistants. These attributes could ultimately allow such devices to be carried and deployed by non-medical personnel at the site of an injury. A remotely located surgeon could then use these robots to provide critical first response medical intervention irrespective of the location of the patient.Copyright