Robot-assisted light dose evaluation for endoscopically guided photodynamic therapy: a preliminary study.
Conventional endoscope-guided photodynamic therapy (PDT) suffers mostly from motion artifacts, therefore expert hand-eye coordination was always needed during manual operations. In this paper we introduced a visual servo scheme to handle the tracking problem between the focused area and the targeted lesions. The scheme is consisted of real-time feature matching, relative motion cancellation and real-time light dose surveillance. Experiments were carried out both on simulated data and a silicon phantom. It indicates that this scheme outperforms the conventional scheme in terms of reduction in operation time and exposure to healthy tissue.
Zhang
Dongwen
D
Research Center for Medical Robotics and MIS Device, Shenzhen Institute of Advanced Technology, Shenzhen, China.
Wang
Lei
L
Gu
Jia
J
Zheng
Zhen
Z
D000465:Algorithms; D006801:Humans; D008027:Light; D019047:Phantoms, Imaging; D010778:Photochemotherapy / Q000379:methods*; D012371:Robotics