English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In robotic-assisted partial nephrectomy, surgeons remove a part of a kidneyoften due to the presence of a mass. A drop-in ultrasound probe paired to asurgical robot is deployed to execute multiple swipes over the kidney surfaceto localise the mass and define the margins of resection. This sub-task ischallenging and must be performed by a highly skilled surgeon. Automating thissub-task may reduce cognitive load for the surgeon and improve patientoutcomes. The overall goal of this work is to autonomously move the ultrasoundprobe on the surface of the kidney taking advantage of the use of thePneumatically Attachable Flexible (PAF) rail system, a soft robotic device usedfor organ scanning and repositioning. First, we integrate a shape-sensingoptical fibre into the PAF rail system to evaluate the curvature of targetorgans in robotic-assisted laparoscopic surgery. Then, we investigate theimpact of the stiffness of the material of the PAF rail on the curvaturesensing accuracy, considering that soft targets are present in the surgicalfield. Finally, we use shape sensing to plan the trajectory of the da Vincisurgical robot paired with a drop-in ultrasound probe and autonomously generatean Ultrasound scan of a kidney phantom.

Organ Shape Sensing using Pneumatically Attachable Flexible Rails in Robotic-Assisted Laparoscopic Surgery