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.