Post on 20-Aug-2020
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Gabor Fichtinger, Ph.D.Gabor Fichtinger, Ph.D.Associate Professor, School of Computing
Cross-appointment w/ Departments of Mechanical and Materials Engineering, Electrical and Computer Engineering,
and Surgerywww.cs.queensu.ca/~gabor
www.cs.queensu.ca/home/cisc881www.cs.queensu.ca/home/cisc330
www.cs.queensu.ca/home/comp230
Computer Integrated Surgery Computer Integrated Surgery –– IntroductionIntroduction
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
PredictionPrediction
The impact of aided interventional technology on medical care in the next 30 years will be as great as the impact of CAD/CAM systems and technology on industrial production over the past 30 years.
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Mission StatementMission Statement
Develop basic science, technology, and engineered systems working cooperatively with physicians to significantly change the way interventions and surgical procedures are planned, carried out, monitored, and assessed.
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
• Mental computation• Mental coupling of plan to action• Hand-eye coordination
Couple the Information to ActionCouple the Information to Action
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Impact of CISImpact of CIS• Procedures performed “better”• Availability increased
Qua
lity
of p
roce
dure
s
Availability of procedures
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Computer Integrated Surgery Systems
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Computer-assisted planning
Patient-specific Model
Update Model
Computer-Assisted
Execution
Update Plan
Computer-Assisted
Assessment
Preoperative Intraoperative
Atlas
Postoperative
Patient
Surgical
Assistants
Surgical Assistant Systems
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Surgical CAD/CAM Systems
Computer-assisted planning
Patient-specific Model
Update Model Update Plan
Computer-Assisted
Assessment
Preoperative Intraoperative
Atlas
PostoperativePatient
Surgical “CAD”
Surgical “TQM”
Surgical “CAM”
Computer-Assisted
ExecutionOrganizedOrganized
By ComputerBy Computer
Tight computer linkduring surgery
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Computer Integrated Surgery
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Fundamental research barriers
Modeling & Analysis• Segmentation• Reconstruction• Data fusion• Treatment planning
Physical Interfaces • Imaging• Tracking & sensing• Robotics• Augmented reality
Systems Integration• System design & architecture• Performance analysis• Clinical applications
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Imaging
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Segmentation
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Reconstruction
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Data fusion
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Treatment planning
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Robots – for prostate cancer implants
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Robots – for prostate cancer biopsy
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Robots – for total hip/knee replacement
TKR MOVIE
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Robot – for laparoscopic telesurgery
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Robot – Steady Hand microsurgery
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Augmented reality
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
System architecture
Robot GUI (Python)
Interplant
Open source
Commercial
Custom
Robot Class (C++)
Galil driver Other libs
Servo Loop
Windows PC
Galil Controller
CommandProcessor Safety Loop
Ethernet
downloaded
DLL (C++)socket
wxPython/ wxWidgets
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Clinical applications
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
How can we get there?
Strong and committed teams
– Surgeons– Engineers– Industry
Focus on systems that address important needs
Rapid iteration with measurable goals
Have fun!
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
The real bottom line: patient care
• Provide new capabilities that transcend human limitations in surgery
• Increase consistency and quality of surgical treatments
• Promote better outcomesand more cost-effectiveprocesses in surgical practice
Copyright © Gabor Fichtinger, 2008Laboratory for Percutaneous Surgery – The Perk Lab
Thank you !
gabor@cs.jhu.edu