Characterization of patient head motion in otologic surgery: Implications for TEES.

PURPOSE: Middle ear disease is increasingly being managed via transcanal endoscopic ear surgery (TEES). A limitation of TEES is that it restricts the surgeon to single-handed dissection. One solution to this would be an endoscope holder to facilitate two-handed dissection. Current endoscope holders are stationary, and can cause potential damage from endoscope contact with the ossicles or ear canal if unintended head motion occurs from inadequate anesthetic. A dynamic device that could detect and react to patient motion would mitigate these concerns, but currently there is little formal characterization of the frequency, velocity and acceleration of unintended patient head motion during otologic procedures performed under general anesthesia. The present study aims to characterize intraoperative patient head motion kinematics during cases utilizing TEES. MATERIALS AND METHODS: This is a prospective study of adults undergoing otologic procedures performed with general anesthesia and without paralysis. Head motion was characterized using a nine-axis inertial measurement unit (IMU), (LPMS-B2, Life Performance Research) mounted to each patient's forehead for the procedure duration. RESULTS: Data was collected across 10 cases; 50% of patients were female and mean age was 50 ± 14 years. There was observed patient head motion in 40% of cases with maximum linear acceleration of 0.75 m/s2 and angular velocity of 12.50 degrees/s. CONCLUSIONS: Patient movement during otologic procedures was commonly observed, demonstrating the need for a dynamic holder to allow two-handed TEES. Results from this study are the first objective characterization of patient head motion kinematics during otologic procedures performed under general anesthesia.

Characterization of patient head motion in otologic surgery: Implications for TEES.

PURPOSE: Middle ear disease is increasingly being managed via transcanal endoscopic ear surgery (TEES). A limitation of TEES is that it restricts the surgeon to single-handed dissection. One solution to this would be an endoscope holder to facilitate two-handed dissection. Current endoscope holders are stationary, and can cause potential damage from endoscope contact with the ossicles or ear canal if unintended head motion occurs from inadequate anesthetic. A dynamic device that could detect and react to patient motion would mitigate these concerns, but currently there is little formal characterization of the frequency, velocity and acceleration of unintended patient head motion during otologic procedures performed under general anesthesia. The present study aims to characterize intraoperative patient head motion kinematics during cases utilizing TEES. MATERIALS AND METHODS: This is a prospective study of adults undergoing otologic procedures performed with general anesthesia and without paralysis. Head motion was characterized using a nine-axis inertial measurement unit (IMU), (LPMS-B2, Life Performance Research) mounted to each patient's forehead for the procedure duration. RESULTS: Data was collected across 10 cases; 50% of patients were female and mean age was 50 ± 14 years. There was observed patient head motion in 40% of cases with maximum linear acceleration of 0.75 m/s2 and angular velocity of 12.50 degrees/s. CONCLUSIONS: Patient movement during otologic procedures was commonly observed, demonstrating the need for a dynamic holder to allow two-handed TEES. Results from this study are the first objective characterization of patient head motion kinematics during otologic procedures performed under general anesthesia.

Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery.

Retinal surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their non-dominant hand (less capable hand) to provide illumination inside the eye. Manually holding and adjusting the light pipe places an additional burden on the surgeon and increases the overall complexity of the procedure. To overcome these challenges, a robot-assisted automatic light pipe actuating system is proposed. A customized light pipe with force-sensing capability is mounted at the end effector of a follower robot and is actuated through a hybrid force-velocity controller to automatically illuminate the target area on the retinal surface by pivoting about the scleral port (incision on the sclera). Static following-accuracy evaluation and dynamic light tracking experiments are carried out. The results show that the proposed system can successfully illuminate the desired area with negligible offset (the average offset is 2.45 mm with standard deviation of 1.33 mm). The average scleral forces are also below a specified threshold (50 mN). The proposed system not only can allow for increased focus on dominant hand instrument control, but also could be extended to three-arm procedures (two surgical instruments held by surgeon plus a robot-holding light pipe) in retinal surgery, potentially improving surgical efficiency and outcome.

Hybrid Robot-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.

High-resolution real-time intraocular imaging of retina at the cellular level is very challenging due to the vulnerable and confined space within the eyeball as well as the limited availability of appropriate modalities. A probe-based confocal laser endomicroscopy (pCLE) system, can be a potential imaging modality for improved diagnosis. The ability to visualize the retina at the cellular level could provide information that may predict surgical outcomes. The adoption of intraocular pCLE scanning is currently limited due to the narrow field of view and the micron-scale range of focus. In the absence of motion compensation, physiological tremors of the surgeons' hand and patient movements also contribute to the deterioration of the image quality. Therefore, an image-based hybrid control strategy is proposed to mitigate the above challenges. The proposed hybrid control strategy enables a shared control of the pCLE probe between surgeons and robots to scan the retina precisely, with the absence of hand tremors and with the advantages of an image-based auto-focus algorithm that optimizes the quality of pCLE images. The hybrid control strategy is deployed on two frameworks - cooperative and teleoperated. Better image quality, smoother motion, and reduced workload are all achieved in a statistically significant manner with the hybrid control frameworks.

Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework.

OBJECTIVE: Robotics-assisted retinal microsurgery provides several benefits including improvement of manipulation precision. The assistance provided to the surgeons by current robotic frameworks is, however, a "passive" support, e.g., by damping hand tremor. Intelligent assistance and active guidance are, however, lacking in the existing robotic frameworks. In this paper, an active interventional control framework (AICF) has been presented to increase operation safety by actively intervening the operation to avoid exertion of excessive forces to the sclera. METHODS: AICF consists of the following four components: first, the steady-hand eye robot as the robotic module; second, a sensorized tool to measure tool-to-sclera forces; third, a recurrent neural network to predict occurrence of undesired events based on a short history of time series of sensor measurements; and finally, a variable admittance controller to command the robot away from the undesired instances. RESULTS: A set of user studies were conducted involving 14 participants (with four surgeons). The users were asked to perform a vessel-following task on an eyeball phantom with the assistance of AICF as well as other two benchmark approaches, i.e., auditory feedback (AF) and real-time force feedback (RF). Statistical analysis shows that AICF results in a significant reduction of proportion of undesired instances to about 2.5%, compared with 38.4% and 26.2% using AF and RF, respectively. CONCLUSION: AICF can effectively predict excessive-force instances and augment performance of the user to avoid undesired events during robot-assisted microsurgical tasks. SIGNIFICANCE: The proposed system may be extended to other fields of microsurgery and may potentially reduce tissue injury.

A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning.

In this paper, a novel semi-autonomous control framework is presented for enabling probe-based confocal laser endomicroscopy (pCLE) scan of the retinal tissue. With pCLE, retinal layers such as nerve fiber layer (NFL) and retinal ganglion cell (RGC) can be scanned and characterized in real-time for an improved diagnosis and surgical outcome prediction. However, the limited field of view of the pCLE system and the micron-scale optimal focus distance of the probe, which are in the order of physiological hand tremor, act as barriers to successful manual scan of retinal tissue. Therefore, a novel sensorless framework is proposed for real-time semi-autonomous endomicroscopy scanning during retinal surgery. The framework consists of the Steady-Hand Eye Robot (SHER) integrated with a pCLE system, where the motion of the probe is controlled semi-autonomously. Through a hybrid motion control strategy, the system autonomously controls the confocal probe to optimize the sharpness and quality of the pCLE images, while providing the surgeon with the ability to scan the tissue in a tremor-free manner. Effectiveness of the proposed architecture is validated through experimental evaluations as well as a user study involving 9 participants. It is shown through statistical analyses that the proposed framework can reduce the work load experienced by the users in a statistically-significant manner, while also enhancing their performance in retaining pCLE images with optimized quality.

Robotics-Assisted Surgical Skills Evaluation based on Electrocortical Activity.

Skills assessment in Robotics-Assisted Minimally Invasive Surgery (RAMIS) is mainly performed based on temporal, motion-based and outcome-based metrics. While these components are essential for the proper assessment of skills in RAMIS, they do not suffice for full representation of all underlying aspects of skilled performance. Besides such commonplace components of skills, there exist other elements to be taken into account for comprehensive skills assessment. Among such elements are cognitive states (such as levels of stress, attention, concentration) that can directly affect performance. Investigating the impact of electrocortical activity and cognitive states of RAMIS surgeons over their performance has, however, received little attention in the literature. Therefore, in this paper, novel performance metrics based on electroencephalography (EEG) signals are studied for potential augmentation into RAMIS training and its assessment platform. For this purpose, a user study was conducted involving 23 novices and 9 expert RAMIS surgeons. The participants were asked to perform two tasks on the dv-Trainer®, (Mimic Technologies) RAMIS simulator, while their brain EEG signals were being measured using the Muse EEG headband (InteraXon Inc.). The performance metrics were defined as mean values of band powers of EEG signals over various ranges of frequency. Statistical analysis was performed to evaluate metrics over 5 different ranges of frequency for 4 electrode locations and during 2 RAMIS training tasks. The results indicated statistically significant differences in electrocortical activity between novices and experts in temporoparietal and left frontal regions of their brain for mid to high-frequency ranges. Overall, RAMIS experts showed lower levels of electrocortical activity in those regions compared to novices. The results indicate that electrocortical activity measured by EEG signals have the potential to provide useful information for skills assessment in RAMIS.

Toward Lung Tumor Localization based on Strain Variability of Lung Surface during Video-Assisted Thoracoscopic Surgery.

Tumor localization, especially in case of minimally invasive lung tumor resection surgery, is extremely challenging due to the continuous motion of the organ. This motion can be troublesome as it results in spatial discrepancy corresponding to preoperative and intraoperative tumor location. In order to characterize lung tissue stiffness for the purpose of lung tumor localization, in this paper, we present a novel characterization approach based on variability in resistance of the healthy region vs. the tumorous region resulting from lung motion. The proposed approach is numerically validated on a Finite Element (FE) model of the lung with varying surface stiffnesses, where higher stiffness represents tumor and lower stiffness corresponds to healthy lung tissue. The numerical simulation validates the sensitivity of our mechanism for different grades of tumors by demonstrating that the strain on the healthy tissue is 31.8 and 67.1 times higher than that on the tumor surface for a selected relative stiffness variation of 3.6x and 24.4x respectively, at a pressure of 1.6 KPa. Additionally, a framework is developed to validate the proposed approach in a video of a video-assisted thoracoscopic surgery (VATS), where multiple landmarks on the lung surface are tracked. This enables us to quantify the motion of points residing on healthy surface and tumorous surface. The motion data is further analyzed to study the relative surface strain, and it is shown that the proposed approach differentiates a tumor from healthy surface.

A Systematic Review of Multilateral Teleoperation Systems.

While conventional bilateral Single-Master/Single-Slave (SM/SS) teleoperation systems have received considerable attention during the past several decades, multilateral teleoperation is only recently being studied. Unlike an SM/SS system, which consists of one master-slave set, multilateral teleoperation frameworks involve a minimum of three agents in order to remotely perform a task. This paper presents an overview of multilateral teleoperation systems and classifies the existing state-of-the-art architecture based on topologies, applications, and closed-loop stability analysis. For each category, the review discusses control strategies used for various architectures as well as control challenges (e.g., closed-loop instability as a result of a delay in the communication network) for each methodology.

Predicting Improvement in Writer's Cramp Symptoms following Botulinum Neurotoxin Injection Therapy.

INTRODUCTION: Writer's cramp is a specific focal hand dystonia causing abnormal posturing and tremor in the upper limb. The most popular medical intervention, botulinum neurotoxin type A (BoNT-A) therapy, is variably effective for 50-70% of patients. BoNT-A non-responders undergo ineffective treatment and may experience significant side effects. Various assessments have been used to determine response prediction to BoNT-A, but not in the same population of patients. METHODS: A comprehensive assessment was employed to measure various symptom aspects. Clinical scales, full upper-limb kinematic measures, self-report, and task performance measures were assessed for nine writer's cramp patients at baseline. Patients received two BoNT-A injections then were classified as responders or non-responders based on a quantified self-report measure. Baseline scores were compared between groups, across all measures, to determine which scores predicted a positive BoNT-A response. RESULTS: Five of nine patients were responders. No kinematic measures were predictably different between groups. Analyses revealed three features that predicted a favorable response and separated the two groups: higher than average cramp severity and cramp frequency, and below average cramp latency. DISCUSSION: Non-kinematic measures appear to be superior in making such predictions. Specifically, measures of cramp severity, frequency, and latency during performance of a specific set of writing and drawing tasks were predictive factors. Since kinematic was not used to determine the injection pattern and the injections were visually guided, it may still be possible to use individual patient kinematics for better outcomes.

Haptic Feedback Manipulation During Botulinum Toxin Injection Therapy for Focal Hand Dystonia Patients: A Possible New Assistive Strategy.

Abnormality of sensorimotor integration in the basal ganglia and cortex has been reported in the literature for patients with task-specific focal hand dystonia (FHD). In this study, we investigate the effect of manipulation of kinesthetic input in people living with writer's cramp disorder (a major form of FHD). For this purpose, severity of dystonia is studied for 11 participants while the symptoms of seven participants have been tracked during five sessions of assessment and Botulinum toxin injection (BoNT-A) therapy (one of the current suggested therapies for dystonia). BoNT-A therapy is delivered in the first and the third session. The goal is to analyze the effect of haptic manipulation as a potential assistive technique during BoNT-A therapy. The trial includes writing, hovering, and spiral/sinusoidal drawing subtasks. In each session, the subtasks are repeated twice when (a) a participant uses a normal pen, and (b) when the participant uses a robotics-assisted system (supporting the pen) which provides a compliant virtual writing surface and manipulates the kinesthetic sensory input. The results show (p-value using one-sample t-tests) that reducing the writing surface rigidity significantly decreases the severity of dystonia and results in better control of grip pressure (an indicator of dystonic cramping). It is also shown that (p-value based on paired-samples t-test) using the proposed haptic manipulation strategy, it is possible to augment the effectiveness of BoNT-A therapy. The outcome of this study is then used in the design of an actuated pen as a writing-assistance tool that can provide compliant haptic interaction during writing for FHD patients.

Kinematic and kinetic assessment of upper limb movements in patients with writer's cramp.

BACKGROUND: The assessment and treatment of writer's cramp is complicated due to the variations in the forces and angles of involved joints. Additionally, in some cases compensatory movements for cramp relief further complicates assessment. Currently these variables are subjectively measured with clinical scales and visual assessments. This subjectivity makes it difficult to successfully administer interventions such as Botulinum toxin injection or orthotics resulting in poor efficacy and significant side effects. METHOD: A multi-sensor system was used to record finger and wrist forces along with deviation angles at the wrist, elbow and shoulder while 9 patients with writer's cramp performed a series of standardized tasks on surfaces inclined at different angles. Clinical, kinetic, and kinematic information regarding cramping was collected. RESULTS: First, four tasks appeared to best predict cramp occurrence. Second, unique biomechanical profiles emerged for patients regarding force, angles and cramp severity. Third, cluster analyses using these features showed a clear separation of patients into two severity classes. Finally, a relationship between severity and kinetic-kinematic information suggested that primary cramping versus compensatory movements could be potentially inferred. CONCLUSIONS: The results demonstrate that using a set of standardized tasks and objective measures, individual profiles for arm movements and applied forces associated with writer's cramp can be generated. The clinician can then accurately target the biomechanics specifically, whether it is with injection or other rehabilitative measures, fulfilling an important unmet need in the treatment of writer's cramp.