Epipolar geometry for vision-guided laser surgery.

Abstract

International audienceThe μRALP project involves the development of a system for endoluminal laser phonosurgery, i.e. surgery of the vocal chords using a laser emitted from inside the larynx. Indeed, in current laryngeal laser surgical procedures, a beam of incision laser is projected on the target position of the soft tissue from the working distance of 400mm by means of a rigid laryngoscope (Fig.1). This yields safety concerns for the patient and staff, as well as limitations to accuracy. More, this so-called laryngeal suspension position of the patient requires an extreme extension of the neck, which makes it painful several days after the operation