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Workspace Analysis for Laparoscopic Rectal Surgery : A Preliminary Study

Alexandra Thomieres, Dhruva Khanzode, Emilie Duchalais, Ranjan Jha, Damien Chablat

TL;DR

The study tackles optimizing robotic interventions in laparoscopic rectal surgery by analyzing the pelvic workspace through patient-specific MRI data converted into CAD models. It integrates MRI-based tissue differentiation, manual contouring, and three-dimensional reconstructions to generate STL meshes, which are then analyzed in SOLIDWORKS for dimensional and volumetric workspace metrics. Key findings include a larger total workspace in female patients and a lower-half functional workspace that approximates a concentric cylindrical shape, informing instrument trajectories. The work provides a reproducible MRI-to-CAD pipeline that can guide the design of dedicated robotic tools for LRS and suggests directions for larger-scale validation.

Abstract

The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS). This specialized surgical technique, aimed at addressing rectal cancer, requires an in-depth comprehension of the spatial dynamics within the narrow space of the pelvis. Leveraging Magnetic Resonance Imaging (MRI) scans as a foundational dataset, this study incorporates them into Computer-Aided Design (CAD) software to generate precise three-dimensional (3D) reconstructions of the patient's anatomy. At the core of this research is the analysis of the surgical workspace, a critical aspect in the optimization of robotic interventions. Sophisticated computational algorithms process MRI data within the CAD environment, meticulously calculating the dimensions and contours of the pelvic internal regions. The outcome is a nuanced understanding of both viable and restricted zones during LRS, taking into account factors such as curvature, diameter variations, and potential obstacles. This paper delves deeply into the complexities of workspace analysis for robotic LRS, illustrating the seamless collaboration between medical imaging, CAD software, and surgical robotics. Through this interdisciplinary approach, the study aims to surpass traditional surgical methodologies, offering novel insights for a paradigm shift in optimizing robotic interventions within the complex environment of the pelvis.

Workspace Analysis for Laparoscopic Rectal Surgery : A Preliminary Study

TL;DR

The study tackles optimizing robotic interventions in laparoscopic rectal surgery by analyzing the pelvic workspace through patient-specific MRI data converted into CAD models. It integrates MRI-based tissue differentiation, manual contouring, and three-dimensional reconstructions to generate STL meshes, which are then analyzed in SOLIDWORKS for dimensional and volumetric workspace metrics. Key findings include a larger total workspace in female patients and a lower-half functional workspace that approximates a concentric cylindrical shape, informing instrument trajectories. The work provides a reproducible MRI-to-CAD pipeline that can guide the design of dedicated robotic tools for LRS and suggests directions for larger-scale validation.

Abstract

The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS). This specialized surgical technique, aimed at addressing rectal cancer, requires an in-depth comprehension of the spatial dynamics within the narrow space of the pelvis. Leveraging Magnetic Resonance Imaging (MRI) scans as a foundational dataset, this study incorporates them into Computer-Aided Design (CAD) software to generate precise three-dimensional (3D) reconstructions of the patient's anatomy. At the core of this research is the analysis of the surgical workspace, a critical aspect in the optimization of robotic interventions. Sophisticated computational algorithms process MRI data within the CAD environment, meticulously calculating the dimensions and contours of the pelvic internal regions. The outcome is a nuanced understanding of both viable and restricted zones during LRS, taking into account factors such as curvature, diameter variations, and potential obstacles. This paper delves deeply into the complexities of workspace analysis for robotic LRS, illustrating the seamless collaboration between medical imaging, CAD software, and surgical robotics. Through this interdisciplinary approach, the study aims to surpass traditional surgical methodologies, offering novel insights for a paradigm shift in optimizing robotic interventions within the complex environment of the pelvis.
Paper Structure (5 sections, 5 figures)

This paper contains 5 sections, 5 figures.

Table of Contents

  1. Introduction
  2. Medical Imaging
  3. Methodology
  4. Workspace analysis
  5. Conclusions and future work

Figures (5)

  • Figure 1: Marked MRI with differentiation of tissues in Axial, coronal, and Sagittal plane
  • Figure 2: 3D representation of pelvic cavity using MRI data showing all the six zones.
  • Figure 3: 3D representation of pelvic MRI data highlighting solely the working area
  • Figure 4: 3D CAD models depicting the six distinct zones within the surgical site
  • Figure 5: Front, Left, Top, and Isometric views of 3D workspace from CAD software.