Trajectory Planning using Surgical Device Orientation in Ultrasound Guided Minimally Invasive Surgical Procedures

Alwin Kumar Rathinam


Minimally Invasive Surgical Procedures (MISP) are an exciting choice of option for patients where surgery is performed with localized anesthesia and small incisions to the skin. Surgeons still have to decide if this option is applicable for patients based on each prognosis. If applicable, patients would greatly benefit as the procedures can be carried out in a day care setting with faster recovery time and reduced risk from the use of general anesthesia. Ultrasound is one medical imaging modality which can be used to visualize the underlying tissue during MISP. This gives the surgeon a real time view of the anatomy without ionizing radiation. Various surgical devices and tools are utilized in MISP. This paper presents a trajectory planning for surgeons using rotational and translation orientation of three dimensional Cartesian coordinates. Artificial Intelligence software precision guidance system then provides surgeons the ability to pre-plan in realtime the execution of the procedure and improve the procedure's efficacy. Increased development of such software and hardware solution could lead to further adoption of MISP and thereafter increase the wellbeing of patients.


Minimally Invasive Surgical Procedures; trajectory planning; ultrasound

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