Surgical robotics: Visually Autonomous Cauterization System (VACS) conceptual design.

摘要

In the absence of any previously published surgical robotic literature in relation to machine vision and autonomous surgical activitiy, this thesis describes the development of an interdisciplinary, conceptual visually autonomous cauterization system (VACS). In general, the thesis identifies a surgical task and niche for which a device may be visually servoed to act in the operating room as a surgical assistant. Specifically, the intent is to provide operating teams with control over hemostatic maintenance through electrocautery while simultaneously conducting other surgical procedures. Cauterization during minimally invasive hand-assisted laparoscopic liver resection (i.e., identified as the most likely procedure for proof-of-concept success) was selected. Design requirements for the system are established and details of the required hardware and software are discussed. The perioperative phases of the hand-assisted laparoscopic liver resection are outlined, then video frames from one such surgery are analyzed demonstrating the use of the image processing algorithm to identify cauterisable areas. Finally, a discussion on how the system's benefits are realized and conclusions based on the objectives achieved and suggestions for future work (i.e., intended to establish a physical prototype and viable resource for the surgical community) are presented.