Cognitive Supervision for Robot-Assisted Minimally Invasive Laser Surgery.

• Superior document: Springer Theses Series
• Author: Fichera, Loris.
• Place / Publishing House: Cham : : Springer International Publishing AG,, 2016.; Ã2016.
• Year of Publication: 2016
• Edition: 1st ed.
• Language: English
• Series: Springer Theses Series
• Physical Description: 1 online resource (114 pages)

Table of Contents

Intro -- Parts of this thesis have been published in the following documents: -- Journal Publications -- Conference Proceedings -- Workshop Abstracts -- Supervisors' Foreword -- Acknowledgments -- Contents -- About the Author -- 1 Introduction -- 1.1 Motivations -- 1.2 Components of the Research -- 1.3 Scope of the Thesis -- 1.4 Outline of the Thesis -- References -- 2 Background: Laser Technology and Applications to Clinical Surgery -- 2.1 Physical Properties of Light -- 2.2 Fundamentals of Lasers -- 2.2.1 Laser Beam Optics -- 2.2.2 Spectral Properties of Laser Light -- 2.3 Fundamentals of Laser-Matter Interaction -- 2.4 Interactions of Lasers with Biological Tissues -- 2.4.1 Thermal Interactions -- 2.4.2 Applications to Clinical Surgery -- References -- 3 Cognitive Supervision for Transoral Laser Microsurgery -- 3.1 Workflow of Transoral Laser Microsurgery -- 3.2 Technical Limitations of Transoral Laser Microsurgery -- 3.3 Supervision of the Laser Incision Process -- 3.3.1 Monitoring of Tissue Overheating -- 3.3.2 Monitoring of the Laser Incision Depth -- 3.4 Cognitive Models -- 3.5 Problem Formulation -- 3.5.1 Temperature Hypothesis -- 3.5.2 Laser Incision Depth Hypothesis -- 3.6 Materials and Methods -- 3.6.1 Controlled Incision of Soft Tissue -- 3.6.2 Tissue Targets -- 3.6.3 Measurement of Temperature During Laser Irradiation -- 3.6.4 Measurement of Depth of Incision -- References -- 4 Learning the Temperature Dynamics During Thermal Laser Ablation -- 4.1 Preliminary Considerations -- 4.2 Single-Point Ablation -- 4.2.1 Fitting a Gaussian Function -- 4.2.2 Meta-Parameters Dynamics -- 4.2.3 Experiments -- 4.2.4 Results -- 4.2.5 Discussion -- 4.3 Temperature Dynamics During Laser Scanning -- 4.3.1 Experiments -- 4.3.2 Results -- 4.3.3 Model Validation -- 4.3.4 Discussion -- References -- 5 Modeling the Laser Ablation Process.

5.1 Preliminary Considerations -- 5.2 Influencing Parameters -- 5.2.1 Influence of Energy Delivery Mode -- 5.2.2 Influence of Scanning Frequency -- 5.3 Incision Depth in Ex-Vivo Soft Tissue -- 5.4 Inverse Model of Depth -- 5.5 Ablation by Incision Superposition -- 5.5.1 Ablation Model -- 5.5.2 Controlled Ablation -- 5.5.3 Ablation Assessment -- 5.5.4 Results -- 5.6 Discussion -- References -- 6 Realization of a Cognitive Supervisory System for Laser Microsurgery -- 6.1 Introduction: The RALP Surgical System -- 6.1.1 Hardware Components -- 6.1.2 Software Architecture -- 6.2 System Implementation -- 6.2.1 Software Architecture -- 6.2.2 Integration with the Surgical Console -- 6.3 Towards Assistive Technologies for Laser Microsurgery -- References -- 7 Conclusions and Future Research Directions -- 7.1 Concluding Remarks -- 7.2 Future Research Directions -- 7.2.1 Clinical Translation -- 7.2.2 Online Learning -- 7.2.3 Automatic Control of Tissue Thermal Damage -- 7.2.4 Training of Laser Surgeons -- References -- Appendix ARequirements Questionnaire -- Appendix BSolution to the Homogeneous HeatConduction Equation -- Appendix CGaussian Ablation Shape.