Automatic focusing and robotic scanning mechanism for precision laser ablation in neurosurgery

Hongen Liao, Masafumi Noguchi, Takashi Maruyama, Yoshihiro Muragaki, Hiroshi Iseki, Etsuko Kobayashi, Ichiro Sakuma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

We have developed an laser ablation system with an automatic focusing (AF) and robotic scanning mechanism for precision malignant gliomas resection in neurosurgery. A 5-aminolevulinic acid (5-ALA)-induced fluorescence based intra-operative tumor diagnosis technique has been incorporated into the robotic laser ablation system. The system enables an intra-operative identification of the position of a tumor with fluorescence illuminated by a laser excitation. The AF and robotic scanning mechanism assists in tracking the surface of the malignant brain tumors, and provides position information for both laser scanning in 5-ALA fluorescence identification and laser ablation in tumor resection. Experimental results showed the automatic focus device had a precision of 0.5 mm and the mechanism could track the brain surface with a movement caused by pulsation and respiration.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages325-330
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
Duration: 2010 Oct 182010 Oct 22

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CityTaipei
Period10/10/1810/10/22

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Keywords

  • Automatic focus
  • Fluorescence
  • Laser ablation
  • Medical robotics
  • Neurosurgery

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Liao, H., Noguchi, M., Maruyama, T., Muragaki, Y., Iseki, H., Kobayashi, E., & Sakuma, I. (2010). Automatic focusing and robotic scanning mechanism for precision laser ablation in neurosurgery. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 325-330). [5652067] https://doi.org/10.1109/IROS.2010.5652067