OPTIMAL SURGICAL PORT PLACEMENT AND AUTOMATED ROBOTIC POSITIONING FOR RAMAN AND OTHER BIOSENSORS
by
BRADY KING
January 2011
Advisors: Dr. Abhilash Pandya, Dr. Darin Ellis, Dr. Le Yi Wang, and Dr. Greg Auner
Major: Computer Engineering
Degree: Doctor of Philosophy
Medical biosensors can provide new information during minimally invasive and robotic surgical procedures. However, these biosensors have significant physical limitations that make it difficult to find optimal port locations and place them in vivo. This dissertation explores the application of robotics and virtual/augmented reality to biosensors to enable their optimal use in vivo.
In the first study, human performance in the task of port placement was evaluated to determine if computer intervention and assistance was needed. Using a virtual surgical environment, we present a number of targets on one or more tissue surfaces. A human factors study was conducted with 20 subjects that analyzed the subject's placement of a port with the goal of scanning as many targets as possible with a biosensor. The study showed performance to be less than optimal with significant degradation in several specific scenarios.
In the second study, an automated intelligent port placement system for biosensor use was developed. Patient data was displayed in an environment in which a surgeon could indicate areas of interest. The system utilized biosensor physical limitations and provided the best port location from which the biosensor could reach the targets on a collision-free path. The study showed that it is possible to find an optimal port location for proper biosensor data capture.
In the final study, a surgical robot was investigated for potential use in holding and positioning a biosensor in vivo. A full control suite was developed for an AESOP 1000, enabling the positioning of the biosensor without hand manipulation. It was found that the robot lacks the accuracy needed for proper biosensor utilization. Specific causes for the inaccuracies were identified for analysis and consideration in future robotic platforms.
Overall, the results show that the application of medical robotics and virtual/augmented reality is able to overcome of the significant physical limitations inherent to biosensor design that currently limit their use in surgery. We conjecture that a complete system, with a more accurate robot, could be used in vivo. We believe that results taken from the individual studies will result in improvements to pre-operative port placement and robotic design.
","abstract_html":"<p><strong>OPTIMAL SURGICAL PORT PLACEMENT AND AUTOMATED ROBOTIC POSITIONING FOR RAMAN AND OTHER BIOSENSORS</strong></p> <p>by</p> <p><strong>BRADY KING</strong></p> <p><strong>January 2011 </strong></p> <p>Advisors: Dr. Abhilash Pandya, Dr. Darin Ellis, Dr. Le Yi Wang, and Dr. Greg Auner</p> <p>Major: Computer Engineering</p> <p>Degree: Doctor of Philosophy</p> <p>Medical biosensors can provide new information during minimally invasive and robotic surgical procedures. However, these biosensors have significant physical limitations that make it difficult to find optimal port locations and place them <em>in vivo</em>. This dissertation explores the application of robotics and virtual/augmented reality to biosensors to enable their optimal use <em>in vivo</em>.</p> <p>In the first study, human performance in the task of port placement was evaluated to determine if computer intervention and assistance was needed. Using a virtual surgical environment, we present a number of targets on one or more tissue surfaces. A human factors study was conducted with 20 subjects that analyzed the subject's placement of a port with the goal of scanning as many targets as possible with a biosensor. The study showed performance to be less than optimal with significant degradation in several specific scenarios.</p> <p>In the second study, an automated intelligent port placement system for biosensor use was developed. Patient data was displayed in an environment in which a surgeon could indicate areas of interest. The system utilized biosensor physical limitations and provided the best port location from which the biosensor could reach the targets on a collision-free path. The study showed that it is possible to find an optimal port location for proper biosensor data capture.</p> <p>In the final study, a surgical robot was investigated for potential use in holding and positioning a biosensor <em>in vivo</em>. A full control suite was developed for an AESOP 1000, enabling the positioning of the biosensor without hand manipulation. It was found that the robot lacks the accuracy needed for proper biosensor utilization. Specific causes for the inaccuracies were identified for analysis and consideration in future robotic platforms.</p> <p>Overall, the results show that the application of medical robotics and virtual/augmented reality is able to overcome of the significant physical limitations inherent to biosensor design that currently limit their use in surgery. We conjecture that a complete system, with a more accurate robot, could be used <em>in vivo</em>. We believe that results taken from the individual studies will result in improvements to pre-operative port placement and robotic design.</p>","abstract_has_math":false,"creators":["King, Brady"],"institution":null,"degree_name":"Ph.D.","degree_level":"Open Access Dissertation","degree_discipline":"Electrical and Computer Engineering","degree_department":null,"school":null,"contributors":["Abhilash Pandya"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-01-01T08:00:00Z","date_published":"2011-01-01T08:00:00Z","updated_at":"2026-07-24T05:58:49Z","subjects":["Image-Guided Surgery","Medical Robotics","Port Placement","Raman Spectroscopy","Sensor Integration","Computer Engineering","Robotics","Surgery"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://digitalcommons.wayne.edu/oa_dissertations/214","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Abhilash Pandya"]},{"key":"dc:creator","label":"Author","values":["King, Brady"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.available","label":"Dc Date Available","values":["2011-04-18T07:00:00Z"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical and Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Open Access Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Image-Guided Surgery","Medical Robotics","Port Placement","Raman Spectroscopy","Sensor Integration","Computer Engineering","Robotics","Surgery"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://digitalcommons.wayne.edu/oa_dissertations/214"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["OPTIMAL SURGICAL PORT PLACEMENT AND AUTOMATED ROBOTIC POSITIONING FOR RAMAN AND OTHER BIOSENSORS
by
BRADY KING
January 2011
Advisors: Dr. Abhilash Pandya, Dr. Darin Ellis, Dr. Le Yi Wang, and Dr. Greg Auner
Major: Computer Engineering
Degree: Doctor of Philosophy
Medical biosensors can provide new information during minimally invasive and robotic surgical procedures. However, these biosensors have significant physical limitations that make it difficult to find optimal port locations and place them in vivo. This dissertation explores the application of robotics and virtual/augmented reality to biosensors to enable their optimal use in vivo.
In the first study, human performance in the task of port placement was evaluated to determine if computer intervention and assistance was needed. Using a virtual surgical environment, we present a number of targets on one or more tissue surfaces. A human factors study was conducted with 20 subjects that analyzed the subject's placement of a port with the goal of scanning as many targets as possible with a biosensor. The study showed performance to be less than optimal with significant degradation in several specific scenarios.
In the second study, an automated intelligent port placement system for biosensor use was developed. Patient data was displayed in an environment in which a surgeon could indicate areas of interest. The system utilized biosensor physical limitations and provided the best port location from which the biosensor could reach the targets on a collision-free path. The study showed that it is possible to find an optimal port location for proper biosensor data capture.
In the final study, a surgical robot was investigated for potential use in holding and positioning a biosensor in vivo. A full control suite was developed for an AESOP 1000, enabling the positioning of the biosensor without hand manipulation. It was found that the robot lacks the accuracy needed for proper biosensor utilization. Specific causes for the inaccuracies were identified for analysis and consideration in future robotic platforms.
Overall, the results show that the application of medical robotics and virtual/augmented reality is able to overcome of the significant physical limitations inherent to biosensor design that currently limit their use in surgery. We conjecture that a complete system, with a more accurate robot, could be used in vivo. We believe that results taken from the individual studies will result in improvements to pre-operative port placement and robotic design.
"]},{"key":"dc:title","label":"Title","values":["Optimal Port Placement And Automated Robotic Positioning For Instrumented Laparoscopic Biosensors"]}]}],"canonical_facts":{"dc:contributor":["Abhilash Pandya"],"dc:creator":["King, Brady"],"dc:date.available":["2011-04-18T07:00:00Z"],"dc:description.abstract":["OPTIMAL SURGICAL PORT PLACEMENT AND AUTOMATED ROBOTIC POSITIONING FOR RAMAN AND OTHER BIOSENSORS
by
BRADY KING
January 2011
Advisors: Dr. Abhilash Pandya, Dr. Darin Ellis, Dr. Le Yi Wang, and Dr. Greg Auner
Major: Computer Engineering
Degree: Doctor of Philosophy
Medical biosensors can provide new information during minimally invasive and robotic surgical procedures. However, these biosensors have significant physical limitations that make it difficult to find optimal port locations and place them in vivo. This dissertation explores the application of robotics and virtual/augmented reality to biosensors to enable their optimal use in vivo.
In the first study, human performance in the task of port placement was evaluated to determine if computer intervention and assistance was needed. Using a virtual surgical environment, we present a number of targets on one or more tissue surfaces. A human factors study was conducted with 20 subjects that analyzed the subject's placement of a port with the goal of scanning as many targets as possible with a biosensor. The study showed performance to be less than optimal with significant degradation in several specific scenarios.
In the second study, an automated intelligent port placement system for biosensor use was developed. Patient data was displayed in an environment in which a surgeon could indicate areas of interest. The system utilized biosensor physical limitations and provided the best port location from which the biosensor could reach the targets on a collision-free path. The study showed that it is possible to find an optimal port location for proper biosensor data capture.
In the final study, a surgical robot was investigated for potential use in holding and positioning a biosensor in vivo. A full control suite was developed for an AESOP 1000, enabling the positioning of the biosensor without hand manipulation. It was found that the robot lacks the accuracy needed for proper biosensor utilization. Specific causes for the inaccuracies were identified for analysis and consideration in future robotic platforms.
Overall, the results show that the application of medical robotics and virtual/augmented reality is able to overcome of the significant physical limitations inherent to biosensor design that currently limit their use in surgery. We conjecture that a complete system, with a more accurate robot, could be used in vivo. We believe that results taken from the individual studies will result in improvements to pre-operative port placement and robotic design.
"],"dc:identifier":["https://digitalcommons.wayne.edu/oa_dissertations/214"],"dc:subject":["Image-Guided Surgery","Medical Robotics","Port Placement","Raman Spectroscopy","Sensor Integration","Computer Engineering","Robotics","Surgery"],"dc:title":["Optimal Port Placement And Automated Robotic Positioning For Instrumented Laparoscopic Biosensors"],"thesis:degree_discipline":["Electrical and Computer Engineering"],"thesis:degree_level":["Open Access Dissertation"],"thesis:degree_name":["Ph.D."]},"updated_at":"2026-07-24T05:58:49Z"}