Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
research.robot_assisted_laparoscopic_ultrasound_elastography [2011/12/20 20:57]
sbillin3@johnshopkins.edu [Approach]
research.robot_assisted_laparoscopic_ultrasound_elastography [2019/08/07 16:01] (current)
Line 17: Line 17:
 The ability to automatically command motion inputs to the da Vinci robot is supported via the Read-Write da Vinci Research API provided to Johns Hopkins University through a research partnership with Intuitive Surgical, Inc. It is important to note that the capabilities of this API is reserved for research systems only, and this API not approved nor compatible for use with clinical da Vinci systems. The ability to automatically command motion inputs to the da Vinci robot is supported via the Read-Write da Vinci Research API provided to Johns Hopkins University through a research partnership with Intuitive Surgical, Inc. It is important to note that the capabilities of this API is reserved for research systems only, and this API not approved nor compatible for use with clinical da Vinci systems.
  
-Control over the entire system is integrated through the open-source Surgical Assistant Workstation (SAW) software framework. This software was developed by the Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ERC) at Johns Hopkins University in collaboration with Intuitive Surgical and exists as an extension to the CISST software libraries developed at Johns Hopkins to support rapid development of computer-integrated applications in medical systems research. Although open-source,​ SAW's design allows compatibility with proprietary software modules through module wrappers and well-defined interface protocol'​s. Using this feature, the Read-Write da Vinci Research API has been integrated with the SAW-based framework for this application.+Control over the entire system is integrated through the open-source Surgical Assistant Workstation (SAW) software framework. Although open-source,​ SAW's design allows compatibility with proprietary software modules through module wrappers and well-defined interface protocol'​s. Using this feature, the Read-Write da Vinci Research API has been integrated with the SAW-based framework for this application.
  
-{{ research.robot_assisted_laparoscopic_ultrasound_elastography:​cisst_3d_user_interface.png?​500 |CISST 3D User Interface}}+Both the ultrasound and elastography image feeds are displayed as picture-in-picture overlays in the video feed of the da Vinci console. This allows the user to observe real-time imaging while exercising control over the robot. The 3D User Interface capability of SAW enables the surgeon to enable/​disable the image overlays and to manipulate the size and location of the images in the field of view using the master controllers in what we call "​masters-as-mice-mode"​ as shown in the image below. 
 + 
 +{{ research.robot_assisted_laparoscopic_ultrasound_elastography:​cisst_3d_user_interface.png?​400 |CISST 3D User Interface}} 
 + 
 +==== Results ==== 
 + 
 +The capability of the system to generate accurate elastography images was tested using a Model 049 Elasticity QA Phantom from CIRS. This phantom contains simulated lesions of varying stiffness. The following figure shows a screen-shot of the video feed shown to the user sitting at the da Vinci console while imaging two lesions of different stiffness simultaneously. As shown in the elastography image, the hard lesion appears darker, having much greater contrast with background tissue, compared to the soft lesion. Both lesions are also visible in the matching ultrasound image, where they appear very similar. Thus, the elastography image provides additional information concerning tissue stiffness, which the ultrasound image cannot provide. 
 + 
 +{{ research.robot_assisted_laparoscopic_ultrasound_elastography:​raluse_phantom_test.png?​400 |Elastography phantom being imaged by the RALUSE system}}
 ===== Project Personnel ===== ===== Project Personnel =====
  
Line 27: Line 35:
   * Emad Boctor   * Emad Boctor
    
 + ​Research Staff
 +  * Anton Deguet
 +  * Balazs Vagvolgyi
 +
  ​Graduate Students  ​Graduate Students
   * Seth Billings   * Seth Billings
Line 40: Line 52:
 ===== Publications ===== ===== Publications =====
  
-* Seth Billings, Nishikant Deshmukh, Hyun Jae Kang, Russell H. Taylor, Emad Boctor, "​System for Robot-Assisted Real-Time Laparoscopic Ultrasound Elastography", ​Accepted to //SPIE Medical Imaging ​Conference ​2012//.+* Seth Billings, Nishikant Deshmukh, Hyun Jae Kang, Russell H. Taylor, Emad Boctor, "​System for Robot-Assisted Real-Time Laparoscopic Ultrasound Elastography",​ //SPIE Medical Imaging 2012//.
research.robot_assisted_laparoscopic_ultrasound_elastography.1324414678.txt.gz · Last modified: 2019/08/07 16:03 (external edit)




ERC CISST    LCSR    WSE    JHU