Autonomous Vision-Guided Resection of Central Airway Obstruction

• URL: http://arxiv.org/abs/2502.18586v1
• Date: Tue, 25 Feb 2025 19:11:11 GMT
• Title: Autonomous Vision-Guided Resection of Central Airway Obstruction
• Abstract summary: Existing tracheal tumor resection methods often lack the precision required for effective airway clearance.<n>We present a vision-guided, autonomous approach for palliative resection of tracheal tumors.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Existing tracheal tumor resection methods often lack the precision required for effective airway clearance, and robotic advancements offer new potential for autonomous resection. We present a vision-guided, autonomous approach for palliative resection of tracheal tumors. This system models the tracheal surface with a fifth-degree polynomial to plan tool trajectories, while a custom Faster R-CNN segmentation pipeline identifies the trachea and tumor boundaries. The electrocautery tool angle is optimized using handheld surgical demonstrations, and trajectories are planned to maintain a 1 mm safety clearance from the tracheal surface. We validated the workflow successfully in five consecutive experiments on ex-vivo animal tissue models, successfully clearing the airway obstruction without trachea perforation in all cases (with more than 90% volumetric tumor removal). These results support the feasibility of an autonomous resection platform, paving the way for future developments in minimally-invasive autonomous resection.

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