Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
Tutor / director / evaluatorCasals Gelpi, Alicia
Document typeMaster thesis
Rights accessOpen Access
Medical Robots is the field focused on improving and making easier the work of medical personnel in certain interventions with the help of robotic systems. Because of this, although some of them are already in use, there is a large number of R&D projects, especially in soft tissues. In this case, this project deals with the improvement of fetal surgery, more specifically in the treatment of Twin-to-Twin Transfusion Syndrome. TTTS is a syndrome that affects pregnancy in twins. When it occurs, during the development of fetuses, there is an interconnection between the blood vessels of both in points called anastomosis. These connections cause the exchange of blood flow between both fetuses and, if it is not treated by fetal surgery, results in the death of both twins. A teleoperated robotic system is being developed in the ESAII laboratory to provide help and assistance to the surgeon during these surgeries. In this project an automation of the robotic system is implemented. It is done by means of using the work environment information collected and Computer Vision tools. The objective is to create an automatic movement of the robot through the fastest and safest path from one point to other over the placenta´s surface. This report details everything about the project development. It is also described the main topics related to the project as the global robotic system, designed and made in the ESAII laboratory of the UPC; the fetal surgery and the current state of the art around this type of medical robots.