Ultrasound guidance in minimally invasive robotic procedures

Maria Antico; Fumio Sasazawa; Liao Wu; Anjali Jaiprakash; Jonathan Roberts; Ross Crawford; Ajay K Pandey; Davide Fontanarosa

doi:10.1016/j.media.2019.01.002

Ultrasound guidance in minimally invasive robotic procedures

Med Image Anal. 2019 May:54:149-167. doi: 10.1016/j.media.2019.01.002. Epub 2019 Jan 11.

Authors

Maria Antico¹, Fumio Sasazawa², Liao Wu¹, Anjali Jaiprakash¹, Jonathan Roberts¹, Ross Crawford³, Ajay K Pandey¹, Davide Fontanarosa⁴

Affiliations

¹ School of Chemistry, Physics and Mechanical Engineering, Queensland University of Technology (QUT), Brisbane, Queensland, Australia; Institute of Health & Biomedical Innovation, Queensland University of Technology, Brisbane, Queensland, Australia.
² School of Chemistry, Physics and Mechanical Engineering, Queensland University of Technology (QUT), Brisbane, Queensland, Australia; Institute of Health & Biomedical Innovation, Queensland University of Technology, Brisbane, Queensland, Australia; Department of Orthopaedic Surgery, Hokkaido University Graduate School of Medicine, Sapporo, Japan.
³ School of Chemistry, Physics and Mechanical Engineering, Queensland University of Technology (QUT), Brisbane, Queensland, Australia; Institute of Health & Biomedical Innovation, Queensland University of Technology, Brisbane, Queensland, Australia; Department of Orthopaedic Surgery, Prince Charles Hospital, Chermside, Queensland, Australia.
⁴ Institute of Health & Biomedical Innovation, Queensland University of Technology, Brisbane, Queensland, Australia; School of Clinical Sciences, Queensland University of Technology, Brisbane, Queensland, Australia; Department of Radiation Oncology (MAASTRO), GROW - School for Oncology and Developmental Biology, Maastricht, the Netherlands. Electronic address: davide.fontanarosa@maastro.nl.

PMID: 30928829
DOI: 10.1016/j.media.2019.01.002

Abstract

In the past decade, medical robotics has gained significant traction within the surgical field. While the introduction of fully autonomous robotic systems for surgical procedures still remains a challenge, robotic assisted interventions have become increasingly more interesting for the scientific and clinical community. This happens especially when difficulties associated with complex surgical manoeuvres under reduced field of view are involved, as encountered in minimally invasive surgeries. Various imaging modalities can be used to support these procedures, by re-creating a virtual, enhanced view of the intervention site. Among them, ultrasound imaging showed several advantages, such as cost effectiveness, non-invasiveness and real-time volumetric imaging. In this review we comprehensively report about the interventional applications where ultrasound imaging has been used to provide guidance for the intervention tools, allowing the surgeon to visualize intra-operatively the soft tissue configuration in real-time and to compensate for possible anatomical changes. Future directions are also discussed, in particular how the recent developments in 3D/4D ultrasound imaging and the introduction of advanced imaging capabilities (such as elastography) in commercially available systems may fulfil the unmet needs towards fully autonomous robotic interventions.

Keywords: Minimally invasive; Robotic; Surgery; Ultrasound.

Publication types

Research Support, Non-U.S. Gov't
Review

MeSH terms

Ablation Techniques / methods
Brachytherapy / methods
Humans
Image-Guided Biopsy / methods*
Imaging, Three-Dimensional
Injections / methods
Minimally Invasive Surgical Procedures / methods*
Phantoms, Imaging
Robotic Surgical Procedures / methods*
Ultrasonography / methods*