DocumentCode :
137868
Title :
Micro laser ablation system integrated with image sensor for minimally invasive surgery
Author :
Baiquan Su ; Zhan Shi ; Hongen Liao
Author_Institution :
Dept. of Biomed. Eng., Tsinghua Univ., Beijing, China
fYear :
2014
fDate :
14-18 Sept. 2014
Firstpage :
2043
Lastpage :
2048
Abstract :
A novel micro surgical system with a micro laser ablation module integrated with an imaging sensor is designed and developed for minimally invasive surgery. The system consists of a Nd:YAG laser source with the wavelength of 1064nm to remove lesion, a CCD camera to guide laser, a parallel four-bar mechanism, an endoscope bending section, a rigid steel tube, an aluminum-alloy supporting table and a personal computer for sending control commands. The advantage of the system is the small size of its distal module, i.e., the diameter and the length of the module are 3.5 millimeters and 15.0 millimeters, respectively. A methodological frame for ablating lesion using the system proposed is developed based on the system configuration. Experiments on ex-vivo swine tissue are implemented to evaluate laser ablation performance of the prototyped system.
Keywords :
CCD image sensors; aluminium alloys; biological tissues; biomedical optical imaging; endoscopes; laser ablation; laser applications in medicine; surgery; CCD camera; aluminum-alloy supporting table; control command; endoscope bending section; ex-vivo swine tissue; image sensor; methodological frame; microlaser ablation system; microsurgical system; minimally invasive surgery; parallel four-bar mechanism; personal computer; rigid steel tube; Image sensors; Laser ablation; Laser beams; Lesions; Optical imaging; Optical sensors; Surgery;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
Type :
conf
DOI :
10.1109/IROS.2014.6942835
Filename :
6942835
Link To Document :
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