Title :
Automatic Focusing and Robotic Scanning Mechanism for Precision Laser Ablation in Neurosurgery
Author :
Liao, Hongen ; Noguchi, Masafumi ; Maruyama, Takashi ; Muragaki, Yoshihiro ; Iseki, Hiroshi ; Kobayashi, Etsuko ; Sakuma, Ichiro
Author_Institution :
Dept. of Bioeng., Univ. of Tokyo, Tokyo, Japan
Abstract :
We have developed an laser ablation system with an automatic focusing (AF) and robotic scanning mechanism for precision malignant gliomas resection in neurosurgery. A 5-aminolevulinic acid (5-ALA)-induced fluorescence based intra-operative tumor diagnosis technique has been incorporated into the robotic laser ablation system. The system enables an intra-operative identification of the position of a tumor with fluorescence illuminated by a laser excitation. The AF and robotic scanning mechanism assists in tracking the surface of the malignant brain tumors, and provides position information for both laser scanning in 5-ALA fluorescence identification and laser ablation in tumor resection. Experimental results showed the automatic focus device had a precision of 0.5 mm and the mechanism could track the brain surface with a movement caused by pulsation and respiration.
Keywords :
diseases; fluorescence; laser ablation; medical robotics; neurophysiology; optical focusing; optical scanners; patient diagnosis; robot vision; surgery; tumours; 5-ALA fluorescence identification; 5-aminolevulinic acid-induced fluorescence; automatic focusing; intra-operative tumor diagnosis; laser scanning; malignant brain tumor; medical robotics; neurosurgery; precision laser ablation; precision malignant gliomas resection; robotic scanning mechanism; Medical robotics; automatic focus; fluorescence; laser ablation; neurosurgery;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5652067