Surgical Planning & Intraoperative Navigation Marlene Pinzi*, - - PowerPoint PPT Presentation

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Surgical Planning & Intraoperative Navigation Marlene Pinzi*, - - PowerPoint PPT Presentation

Mar 09, 2024 972 likes •1.12k views

European Robotics Forum 2017 Edinburgh, Scotland, UK 24 th March 2017 Surgical Planning & Intraoperative Navigation Marlene Pinzi*, Zhengchu Tan**, Thomas Watts, Riccardo Secoli, Eloise Matheson, Vani Virdyawan, Ferdinando Rodriguez y Baena

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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 688279

Surgical Planning & Intraoperative Navigation

Marlene Pinzi*, Zhengchu Tan**, Thomas Watts, Riccardo Secoli, Eloise Matheson, Vani Virdyawan, Ferdinando Rodriguez y Baena

Mechatronics in Medicine, Imperial College London, UK *marlene.pinzi16@imperial.ac.uk **zhengchu.tan11@imperial.ac.uk

European Robotics Forum 2017

Edinburgh, Scotland, UK 24th March 2017

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DATA: Cancer Research UK and EU reports

Key Facts about Brain Cancer

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Target “no-go” Region Curvilinear Path

  • Conventional Keyhole

Surgery: – Straight rigid needles – Inflexible/limited use – Restricted access

  • How to improve targeting

accuracy and account for tissue deformation? – Vessels and structures – Tool tissue interactions

Straight Path

Motivation

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Eggs pass through here Wood Mechanism of Motion Electron microscope view Wasp inserting the ovipositor into the wood

Reciprocating Mechanism

A Biologically Inspired Approach

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The STING concept

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Robotic Fine Positioner Flexible Needle Transmission 3D US Probe via Secondary Burr Hole Raman Imaging System Intraoperative Haptic Console with live US-MR Imaging Fusion

EDEN2020 at a Glance

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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 688279

Benefits:

  • Intra-operative US enables to detect brain

shift during neurosurgery

  • Potential of generating real time 3D images
  • Convenient and portable equipment

Issues:

  • Difficulty for phisicians in understanding

US images

  • Needs for fully automatic US/MRI

registration algorithms

Ultrasound (US)

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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 688279

We aim to address some of the limitations of current US simulation systems from MRI images :

  • Computational cost
  • Input modeling with tissue-specific acoustic properties

New database- driven approach, which extends the use of a technique called “Modality Propagation (MP)” to ultrasound

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MRI Real US MP US

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  • Geometry

from MRI

  • Brain

microscale: Axons

  • Directionality

affects drug diffusion

Drug Diffusion Modelling

Single Axon

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  • Brain tissue mimicking material:

Composite Hydrogel (CH)

  • PVA and Phytagel blend

Synthetic Tissue Phantom

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Main Technological Advancements

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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 688279

Thank you...

www.eden2020.eu