ROBOTIC ELECTROMAGNETIC AND OPTICAL NAVIGATION PLATFORM FOR MINIMALLY INVASIVE SURGICAL INTERVENTIONS

Lucian Gheorghe GRUIONU, Răzvan Sabin STAN, Anca Loredana UDRISTOIU, Andreea Valentina IACOB, Stefan UDRISTOIU, Cătălin CONSTANTINESCU, Gabriel GRUIONU

Abstract


Early diagnosis in lung cancer often requires finding and biopsy peripheral nodules located in the parenchyma of the lung, outside the small airways. Because bronchoscopes are too wide to reach the small peripheral airways, the surgeon advances blindly a sharp biopsy needle from the bronchoscope into the lung tissue in the approximate direction of the lesion which comes with a high risk of misdiagnosis. To improve the accuracy of the biopsy procedure, real time X-ray (fluoroscopy) is implemented, exposing the patient and physician to harmful radiation. We have recently developed a prototype of robotic electromagnetic and optical navigation robotic (ENDORO) and computer (iMTECH) platform, which is affordable, easier to manipulate in the operating room and assists both diagnosis and surgical removal of malignant lesions. Once the pre-clinical and clinical feasibility is demonstrated, we plan to continue product development and clinical trials in a dedicated medical device facility.


Full Text:

PDF

References


https://www.genengnews.com/wp-content/uploads/2019/09/Sep13_2019_LoyollaUniv_Non-SmallCellLungCancer.jpg accessed on October 9, 2019.

https://www.drugs.com/mayo/media/BEF24881-1462-467A-9420-DB8923F8DC5F.jpg accessed on October 9, 2019.

https://upload.wikimedia.org/wikipedia/commons/e/e3/Aneurysm_endovascular.jpg accessed on October 9, 2019.

Kevin Cleary, Terry M. Peters, Image-Guided Interventions: Technology Review and Clinical Applications, Annu. Rev. Biomed. Eng.12:119-142, 2010.

Slomka PJ, Baum RP., Multi-modality image registration with software: state-of-the-art, Eur. J. Nucl. Med. Mol. Imaging 36(Suppl. 1): S44–55, 2009.

Rasool Khadem, Clement C. Yeh, Mohammad Sadeghi-Tehrani, Michael R. Bax, Jeremy A. Johnson, Jacqueline Nerney Welch, Eric P. Wilkinson & Ramin Shahidi, Comparative Tracking Error Analysis of Five Different Optical Tracking Systems, Computer Aided, Surgery, 5:2, 98-107, DOI: 10.3109/10929080009148876, 2000.

Leira HO, Tangen GA, Hofstad EF, A novel in vivo method for lung segment movement tracking, Physics in Medicine and Biology, 57:1-16, 2012.

Leira HO, et al. A novel research platform for electromagnetic navigated bronchoscopy using cone beam CT imaging and an animal model, Minimally Invasive Therapy, 1-12, 2010.

Leira HO, Hofstad EF, Bø LE, et al., Navigated Bronchoscopy With Electromagnetic Tracking—Cone Beam Computed Tomography Influence on Tracking and Registration Accuracy, Journal of Bronchology & Interventional Pulmonology, 18:329-336, 2011.

Lucian Gruionu, et all, A novel fusion imaging system for endoscopic ultrasound, Endoscopic Ultrasound, 5(1):35-42, 2016.

C Ciobirca, T. Popa, G. Gruionu, T. Lango, H. Leira, S. Pastrama, L. Gruionu, Virtual bronchoscopy method based on marching cubes algorithm, ICSAAM, Porto, Portugal, 2015.

C Ciobirca, S. Pastrama, T Lango, H. Leira, L. Gruionu, Collision detection algorithm for improved electromagnetic tracking navigation in bronchoscopy, DMD, Vienne, 2015.

F. Manstad-Hulaas, L. Gruionu, et al, Three-Dimensional Endovascular Navigation with Electromagnetic Tracking - Ex Vivo-In Vivo Accuracy, J. of Endov.Therapy, Vol.18, pg.230-240, 2011.

L Gruionu, C Constantinescu, C Ciobircă, A Soimu A Udristoiu, A Săftoiu, G Gruionu, Robotic and Electromagnetic Navigation System for Automatic Guidance of Biopsy Catheters to Peripheral Pulmonary Airway Targets, CARS, Berlin, 2018.

C Ciobirca, A Udristoiu, G Gruionu, A Soimu, Lucian Gheorghe Gruionu, Planning and simulation software for laparoscopic surgery, EAES 26th Congress, London, 2018.

Erlend Fagertun Hofstad, Hanne Sorger, Janne Beate Lervik Bakeng, Lucian Gruionu, Håkon Olav Leira, Tore Amundsen and Thomas Langø, Intraoperative localized constrained registration in navigated bronchoscopy, MEDICAL PHYSICS, Volume 44, Issue 8, Pages 4204–4212, 2017.

C Ewertsen, ASaftoiu, L Gruionu, M Nielsen, Real-time image fusion involving diagnostic ultrasound, American Journal of Roentgenology, vol. 200 no. 3 W249-W255, 2013.

H Petrescu, D Vlasceanu, S Pastrama and L Gruionu, Numerical analysis for determining the displacements of a lung tumor, Key

Engineering Materials Vol. 638, pp. 177-182, 2015.

Gruionu L.G., F. Manstad-Hulaas, E. Wilson, P. Cheng, T. Popa, J. Lee, F. Banovac, K. Cleary, Design, construction and evaluation of an electromagnetically tracked quidewire for interventional radiology and surgical applications, Int. J. of Com. Ass. Rad. and Surg, V3, S1, S124.

Constantinescu C, et al Low cost and easy to use programmable driver for DC micromotors used in high precision multi axis motion system, 18th Int. Carpathian Control Conference (ICCC), 2017.


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :