Guiding Robotic Surgery with 3D Ultrasound: A Study of Instrument Size on Surgical Performance

Real-time 3D ultrasound (US) has become a promising new tool for guiding surgical procedures [1]. In particular, minimally invasive applications within a beating heart are now possible because of US's high tissue/blood contrast and a temporal resolution capable of capturing fast-moving cardiac structures [2]. Intra-cardiac beating heart procedures present new challenges such as limited workspace and a highly dynamic environment. A surgical robot's abilities are well suited for these conditions, due to increased dexterity, accuracy, and speed. However, the use of US to guide surgical procedures decreases a surgeon's ability to perceive and manipulate surgical instruments, as US is not well suited for imaging hard highly reflective objects. We are beginning to explore these new challenges and numerous ways to overcome these shortcomings. In this paper we evaluate the performance of subjects controlling a surgical robot and using real-time 3DUS for guidance. Specifically we looked at the role of instrument size and how it affects a subject’s ability to control a surgical robot.