Augmented reality–based patient and instrument tracking, visualization, and Surgery 4.0 environment development
Dr. Hujoon robot
Epidural neuroplasty is a minimally invasive procedure of treating the herniated disc, in which a steerable catheter is inserted through the epidural space between the spine and the spinal cords and the drug injection or laser ablation is applied through the catheter to treat herniated discs. During the procedure, the physician must manually steer the catheter under X-ray guidance, leading to the problem of irradiation.
In this project, Dr. Hujoon, a teleoperated robotic system for manipulating the endoscopic catheter for epidural neuroplasty is developed. The main technological outcome from the project are
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A teleoperated robotic endoscopic catheter mounted on a industrial robot arm for positioning.
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Chip on the tip camera with optimized depth of field for endoscopic catheter
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6 degrees of freedom haptic master device
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Navigation system for tracking 3D position of the catheter from 2D X-ray and
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Virtual Reality simulator for the epidural neuroplasty training.
The feasibility of the system was verified in animal and cadaever experiments