DaVinci canvas: a telerobotic surgical system with integrated, robot-assisted, laparoscopic ultrasound capability

Authors:
Joshua Leven;Darius Burschka;Rajesh Kumar;Gary Zhang;Steve Blumenkranz;Xiangtian (Donald) Dai;Mike Awad;Gregory D. Hager;Mike Marohn;Mike Choti;Chris Hasser;Russell H. Taylor
Affiliations:
The Johns Hopkins University, Baltimore, Maryland;The Johns Hopkins University, Baltimore, Maryland;Intuitive Surgical, Inc., Sunnyvale, CA;Intuitive Surgical, Inc., Sunnyvale, CA;Intuitive Surgical, Inc., Sunnyvale, CA;The Johns Hopkins University, Baltimore, Maryland;The Johns Hopkins University, Baltimore, Maryland;The Johns Hopkins University, Baltimore, Maryland;The Johns Hopkins University, Baltimore, Maryland;The Johns Hopkins University, Baltimore, Maryland;Intuitive Surgical, Inc., Sunnyvale, CA;The Johns Hopkins University, Baltimore, Maryland
Venue:
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Year:
2005

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Abstract

We present daVinci Canvas: a telerobotic surgical system with integrated robot-assisted laparoscopic ultrasound capability. DaVinci Canvas consists of the integration of a rigid laparoscopic ultrasound probe with the daVinci robot, video tracking of ultrasound probe motions, endoscope and ultrasound calibration and registration, autonomous robot motions, and the display of registered 2D and 3D ultrasound images. Although we used laparoscopic liver cancer surgery as a focusing application, our broader aim was the development of a versatile system that would be useful for many procedures.