IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006
The tracking of surgical instruments offers interesting possibilities for the development of high... more The tracking of surgical instruments offers interesting possibilities for the development of high level commands for robotized camera holders in laparoscopic surgery. We present a new method to detect instruments in laparoscopic images which uses information on the 3D position of the insertion point of an instrument in the abdominal cavity. This information strongly constrains the search for the instrument
2009 IEEE International Conference on Robotics and Automation, 2009
We describe a general methodology for tracking 3-dimensional objects in monocular and stereo vide... more We describe a general methodology for tracking 3-dimensional objects in monocular and stereo video that makes use of GPU-accelerated filtering and rendering in combination with machine learning techniques. The method operates on targets consisting of kinematic chains with known geometry. The tracked target is divided into one or more areas of consistent appearance. The appearance of each area is represented by a classifier trained to assign a class-conditional probability to image feature vectors. A search is then performed on the configuration space of the target to find the maximum likelihood configuration. In the search, candidate hypotheses are evaluated by rendering a 3D model of the target object and measuring its consistency with the class probability map. The method is demonstrated for tool tracking on videos from two surgical domains, as well as in a human hand-tracking task.
IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation, Jan 12, 2009
In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the ... more In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: snap-to, motion-scaling, and standoff-regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the micromanipulator and the desired target object being manipulated. Individual behaviors activate in task-specific situations when the micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with an accuracy of 17.5 ± 0.4μm Root Mean Squared Error (RMSE) distance between the tip and target. Scaling the operator's motions and preventing unwanted contact with no...
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention, 2006
The use of a robotized camera holder in laparoscopic surgery allows a surgeon to control the endo... more The use of a robotized camera holder in laparoscopic surgery allows a surgeon to control the endoscope without the intervention of an assistant. Today, the orders that the surgeon can give to robotized camera holders remain limited. In order to provide higher level interactions between the surgeon and a robotized camera holder, we have developed a new method for the automatic tracking of laparoscopic instruments which works in near real-time. The method is based on the measurement of the 3D positions of the insertion points of the instruments in the abdominal cavity and a simple shape model of the laparoscopic instruments. We present the results of our first experimentation on a cadaver.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2013
Laparoscopic surgery offers benefits to the patients but poses new challenges to the surgeons, in... more Laparoscopic surgery offers benefits to the patients but poses new challenges to the surgeons, including a limited field of view. In this paper, we present an innovative vision system that can be combined with a traditional laparoscope, and provides the surgeon with a global view of the abdominal cavity, bringing him or her closer to open surgery conditions. We present our first experiments performed on a testbench mimicking a laparoscopic setup: they demonstrate an important time gain in performing a complex task consisting bringing a thread into the field of view of the laparoscope.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2010
Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiol... more Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiological tremor often exceeds the narrow diameter of the vessel (40-120 microm). Using an active handheld micromanipulator, we introduce an image-guided robotic system that reduces tremor and provides smooth, scaled motion during the procedure. The micromanipulator assists the surgeon during the approach, puncture, and injection stages of the procedure by tracking the pipette and anatomy viewed under the microscope. In experiments performed ex vivo by an experienced retinal surgeon on 40-60 microm vessels in porcine eyes, the success rate was 29% (2/7) without the aid of the system and 63% (5/8) with the aid of the system.
2008 IEEE Workshop on Applications of Computer Vision, 2008
Certain surgical procedures require a high degree of precise manual control within a very restric... more Certain surgical procedures require a high degree of precise manual control within a very restricted area. Retinal surgeries are part of this group of procedures. During vitreoretinal surgery, the surgeon must visualize, using a microscope, an area spanning a few hundreds of microns in diameter and manually correct the potential pathology using direct contact, free hand techniques. In addition, the surgeon must find an effective compromise between magnification, depth perception, field of view, and clarity of view.
International Journal of Computer Assisted Radiology and Surgery, 2014
Your article is protected by copyright and all rights are held exclusively by CARS. This eoffprin... more Your article is protected by copyright and all rights are held exclusively by CARS. This eoffprint is for personal use only and shall not be self-archived in electronic repositories. If you wish to self-archive your article, please use the accepted manuscript version for posting on your own website. You may further deposit the accepted manuscript version in any repository, provided it is only made publicly available 12 months after official publication or later and provided acknowledgement is given to the original source of publication and a link is inserted to the published article on Springer's website. The link must be accompanied by the following text: "The final publication is available at link.springer.com".
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013
Computer Assisted Medical Intervention (CAMI hereafter) is a complex multi-disciplinary field. CA... more Computer Assisted Medical Intervention (CAMI hereafter) is a complex multi-disciplinary field. CAMI research requires the collaboration of experts in several fields as diverse as medicine, computer science, mathematics, instrumentation, signal processing, mechanics, modeling, automatics, optics, etc.
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on ... more Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on rigid and non deformable anatomical structures. Nowadays, special attention is paid to soft tissues, raising complex issues due to their mobility and deformation. Mini- invasive digestive surgery was probably one of the first fields where soft tissues were handled through the development of simulators, tracking of anatomical structures
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on ... more Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on rigid and non deformable anatomical structures. Nowadays, special attention is paid to soft tissues, raising complex issues due to their mobility and deformation. Miniinvasive digestive surgery was probably one of the first fields where soft tissues were handled through the development of simulators, tracking of anatomical structures and specific assistance robots. However, other clinical domains, for instance urology, are concerned.
Introduction: Our presentation focuses on our 1 st experiments with an innovatively-designed robo... more Introduction: Our presentation focuses on our 1 st experiments with an innovatively-designed robot endoscope holder for laparoscopic surgery, which has a limited size and cost.
The International Journal of Robotics Research, 2007
Université J. Fourier, Laboratoire TIMC-IMAG, CNRS UMR 5525, INSERM, IFR 130, F-38000 Grenoble, F... more Université J. Fourier, Laboratoire TIMC-IMAG, CNRS UMR 5525, INSERM, IFR 130, F-38000 Grenoble, France [email protected] ... Department of Urology, University Hospital, Grenoble France ... Université J. Fourier, Laboratoire TIMC-IMAG CNRS, UMR 5525, INSERM, IFR ...
Robotic endoscope holders constitute an alternative to complete telesurgery systems, by offering ... more Robotic endoscope holders constitute an alternative to complete telesurgery systems, by offering a "third hand" to the surgeon during a laparoscopic procedure. ViKY robotic scope holder (Endocontrol, Grenoble, France) is a lightweight, sterilizable body-mounted robot with 3 DOF. In this paper, we present the specifics of this robot, the newly developed XL version dedicated to single-port surgery and the initial clinical experience. We have proposed a method to control the robot, based on the detection and tracking of surgical instrument from image analysis and shape priors, to enrich the interaction between the surgeon and the robot. We present here, our work in progress toward its integration into a probabilistic framework, with the aim of improving the method's speed and robustness. We also present the surgeons' viewpoints on the feasibility of its integration into the operating theater.
The relative contribution of the angiotensin II type 1 and 2 receptors (AT1-R and AT2-R) in postm... more The relative contribution of the angiotensin II type 1 and 2 receptors (AT1-R and AT2-R) in postmyocardial infarction (MI) remodeling remains incompletely understood. We studied five groups of C57Bl/6 mice after 1 h of left anterior descending artery occlusion-reperfusion: 1) wild type, untreated (n = 12); 2) wild type, treated with the AT1-R blocker losartan (10-20 mg.kg(-1).day(-1) in drinking water) from day 1 to day 28 post-MI (n = 10); 3) cardiac overexpression of the AT2-R [AT2-transgenic (TG); n = 14]; 4) AT2-TG treated with losartan (n = 13); and 5) AT2-TG and null for the AT1a-R [AT2-TG/AT1 knockout (KO); n = 10]. Cardiac magnetic resonance imaging (CMR) measured ejection fraction and left ventricular end-diastolic and end-systolic volume (EDVI and ESVI) and mass indexed to weight on days 0, 1, 7, and 28 post-MI. Infarct size was measured on day 1 by late gadolinium-enhanced CMR. Regional myocyte hypertrophy and collagen content were measured on day 28 post-MI. Infarct size was similar among groups. Systolic blood pressure was lowest in AT2-TG/AT1KO. By day 28 post-MI, when corrected for baseline differences, EDVI and ESVI were higher and ejection fraction was lower in wild type than other groups. Ejection fraction was highest and EDVI and mass index were lowest in AT2-TG/AT1KO at day 28. The AT2-TG/AT1KO demonstrated less fibrosis in adjacent regions. Regional myocyte hypertrophy was similar in all groups. The AT1-R and AT2-R are intricately intertwined in post-MI remodeling. Pharmacological blockade of AT1-R is equivalent to AT2-R overexpression in attenuating post-MI remodeling. Genetic knockout of the AT1a-R is additive to AT2-R overexpression, due, at least in part, to blood pressure lowering.
2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008
The real-time detection of surgeon's action could be very useful for intelligent intraoperative a... more The real-time detection of surgeon's action could be very useful for intelligent intraoperative assistance. Robotic assisted surgery provides quantified information that can be used to detect these actions. In this paper we present our attempt at spotting tool-tissue interactions from real surgery data, in the context of robotic assisted laparoscopy with the daVinci TM system, using both kinematic information and visual information. Our early results are encouraging in this very challenging context.
IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006
The tracking of surgical instruments offers interesting possibilities for the development of high... more The tracking of surgical instruments offers interesting possibilities for the development of high level commands for robotized camera holders in laparoscopic surgery. We present a new method to detect instruments in laparoscopic images which uses information on the 3D position of the insertion point of an instrument in the abdominal cavity. This information strongly constrains the search for the instrument
2009 IEEE International Conference on Robotics and Automation, 2009
We describe a general methodology for tracking 3-dimensional objects in monocular and stereo vide... more We describe a general methodology for tracking 3-dimensional objects in monocular and stereo video that makes use of GPU-accelerated filtering and rendering in combination with machine learning techniques. The method operates on targets consisting of kinematic chains with known geometry. The tracked target is divided into one or more areas of consistent appearance. The appearance of each area is represented by a classifier trained to assign a class-conditional probability to image feature vectors. A search is then performed on the configuration space of the target to find the maximum likelihood configuration. In the search, candidate hypotheses are evaluated by rendering a 3D model of the target object and measuring its consistency with the class probability map. The method is demonstrated for tool tracking on videos from two surgical domains, as well as in a human hand-tracking task.
IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation, Jan 12, 2009
In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the ... more In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: snap-to, motion-scaling, and standoff-regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the micromanipulator and the desired target object being manipulated. Individual behaviors activate in task-specific situations when the micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with an accuracy of 17.5 ± 0.4μm Root Mean Squared Error (RMSE) distance between the tip and target. Scaling the operator's motions and preventing unwanted contact with no...
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention, 2006
The use of a robotized camera holder in laparoscopic surgery allows a surgeon to control the endo... more The use of a robotized camera holder in laparoscopic surgery allows a surgeon to control the endoscope without the intervention of an assistant. Today, the orders that the surgeon can give to robotized camera holders remain limited. In order to provide higher level interactions between the surgeon and a robotized camera holder, we have developed a new method for the automatic tracking of laparoscopic instruments which works in near real-time. The method is based on the measurement of the 3D positions of the insertion points of the instruments in the abdominal cavity and a simple shape model of the laparoscopic instruments. We present the results of our first experimentation on a cadaver.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2013
Laparoscopic surgery offers benefits to the patients but poses new challenges to the surgeons, in... more Laparoscopic surgery offers benefits to the patients but poses new challenges to the surgeons, including a limited field of view. In this paper, we present an innovative vision system that can be combined with a traditional laparoscope, and provides the surgeon with a global view of the abdominal cavity, bringing him or her closer to open surgery conditions. We present our first experiments performed on a testbench mimicking a laparoscopic setup: they demonstrate an important time gain in performing a complex task consisting bringing a thread into the field of view of the laparoscope.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2010
Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiol... more Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiological tremor often exceeds the narrow diameter of the vessel (40-120 microm). Using an active handheld micromanipulator, we introduce an image-guided robotic system that reduces tremor and provides smooth, scaled motion during the procedure. The micromanipulator assists the surgeon during the approach, puncture, and injection stages of the procedure by tracking the pipette and anatomy viewed under the microscope. In experiments performed ex vivo by an experienced retinal surgeon on 40-60 microm vessels in porcine eyes, the success rate was 29% (2/7) without the aid of the system and 63% (5/8) with the aid of the system.
2008 IEEE Workshop on Applications of Computer Vision, 2008
Certain surgical procedures require a high degree of precise manual control within a very restric... more Certain surgical procedures require a high degree of precise manual control within a very restricted area. Retinal surgeries are part of this group of procedures. During vitreoretinal surgery, the surgeon must visualize, using a microscope, an area spanning a few hundreds of microns in diameter and manually correct the potential pathology using direct contact, free hand techniques. In addition, the surgeon must find an effective compromise between magnification, depth perception, field of view, and clarity of view.
International Journal of Computer Assisted Radiology and Surgery, 2014
Your article is protected by copyright and all rights are held exclusively by CARS. This eoffprin... more Your article is protected by copyright and all rights are held exclusively by CARS. This eoffprint is for personal use only and shall not be self-archived in electronic repositories. If you wish to self-archive your article, please use the accepted manuscript version for posting on your own website. You may further deposit the accepted manuscript version in any repository, provided it is only made publicly available 12 months after official publication or later and provided acknowledgement is given to the original source of publication and a link is inserted to the published article on Springer's website. The link must be accompanied by the following text: "The final publication is available at link.springer.com".
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013
Computer Assisted Medical Intervention (CAMI hereafter) is a complex multi-disciplinary field. CA... more Computer Assisted Medical Intervention (CAMI hereafter) is a complex multi-disciplinary field. CAMI research requires the collaboration of experts in several fields as diverse as medicine, computer science, mathematics, instrumentation, signal processing, mechanics, modeling, automatics, optics, etc.
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on ... more Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on rigid and non deformable anatomical structures. Nowadays, special attention is paid to soft tissues, raising complex issues due to their mobility and deformation. Mini- invasive digestive surgery was probably one of the first fields where soft tissues were handled through the development of simulators, tracking of anatomical structures
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on ... more Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on rigid and non deformable anatomical structures. Nowadays, special attention is paid to soft tissues, raising complex issues due to their mobility and deformation. Miniinvasive digestive surgery was probably one of the first fields where soft tissues were handled through the development of simulators, tracking of anatomical structures and specific assistance robots. However, other clinical domains, for instance urology, are concerned.
Introduction: Our presentation focuses on our 1 st experiments with an innovatively-designed robo... more Introduction: Our presentation focuses on our 1 st experiments with an innovatively-designed robot endoscope holder for laparoscopic surgery, which has a limited size and cost.
The International Journal of Robotics Research, 2007
Université J. Fourier, Laboratoire TIMC-IMAG, CNRS UMR 5525, INSERM, IFR 130, F-38000 Grenoble, F... more Université J. Fourier, Laboratoire TIMC-IMAG, CNRS UMR 5525, INSERM, IFR 130, F-38000 Grenoble, France [email protected] ... Department of Urology, University Hospital, Grenoble France ... Université J. Fourier, Laboratoire TIMC-IMAG CNRS, UMR 5525, INSERM, IFR ...
Robotic endoscope holders constitute an alternative to complete telesurgery systems, by offering ... more Robotic endoscope holders constitute an alternative to complete telesurgery systems, by offering a "third hand" to the surgeon during a laparoscopic procedure. ViKY robotic scope holder (Endocontrol, Grenoble, France) is a lightweight, sterilizable body-mounted robot with 3 DOF. In this paper, we present the specifics of this robot, the newly developed XL version dedicated to single-port surgery and the initial clinical experience. We have proposed a method to control the robot, based on the detection and tracking of surgical instrument from image analysis and shape priors, to enrich the interaction between the surgeon and the robot. We present here, our work in progress toward its integration into a probabilistic framework, with the aim of improving the method's speed and robustness. We also present the surgeons' viewpoints on the feasibility of its integration into the operating theater.
The relative contribution of the angiotensin II type 1 and 2 receptors (AT1-R and AT2-R) in postm... more The relative contribution of the angiotensin II type 1 and 2 receptors (AT1-R and AT2-R) in postmyocardial infarction (MI) remodeling remains incompletely understood. We studied five groups of C57Bl/6 mice after 1 h of left anterior descending artery occlusion-reperfusion: 1) wild type, untreated (n = 12); 2) wild type, treated with the AT1-R blocker losartan (10-20 mg.kg(-1).day(-1) in drinking water) from day 1 to day 28 post-MI (n = 10); 3) cardiac overexpression of the AT2-R [AT2-transgenic (TG); n = 14]; 4) AT2-TG treated with losartan (n = 13); and 5) AT2-TG and null for the AT1a-R [AT2-TG/AT1 knockout (KO); n = 10]. Cardiac magnetic resonance imaging (CMR) measured ejection fraction and left ventricular end-diastolic and end-systolic volume (EDVI and ESVI) and mass indexed to weight on days 0, 1, 7, and 28 post-MI. Infarct size was measured on day 1 by late gadolinium-enhanced CMR. Regional myocyte hypertrophy and collagen content were measured on day 28 post-MI. Infarct size was similar among groups. Systolic blood pressure was lowest in AT2-TG/AT1KO. By day 28 post-MI, when corrected for baseline differences, EDVI and ESVI were higher and ejection fraction was lower in wild type than other groups. Ejection fraction was highest and EDVI and mass index were lowest in AT2-TG/AT1KO at day 28. The AT2-TG/AT1KO demonstrated less fibrosis in adjacent regions. Regional myocyte hypertrophy was similar in all groups. The AT1-R and AT2-R are intricately intertwined in post-MI remodeling. Pharmacological blockade of AT1-R is equivalent to AT2-R overexpression in attenuating post-MI remodeling. Genetic knockout of the AT1a-R is additive to AT2-R overexpression, due, at least in part, to blood pressure lowering.
2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008
The real-time detection of surgeon's action could be very useful for intelligent intraoperative a... more The real-time detection of surgeon's action could be very useful for intelligent intraoperative assistance. Robotic assisted surgery provides quantified information that can be used to detect these actions. In this paper we present our attempt at spotting tool-tissue interactions from real surgery data, in the context of robotic assisted laparoscopy with the daVinci TM system, using both kinematic information and visual information. Our early results are encouraging in this very challenging context.
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Papers by Sandrine Voros