Optimal Planning of Robotically Assisted Heart Surgery: Transfer Precision in the Operating Room
Optimal Planning of Robotically Assisted Heart Surgery: Transfer Precision in the Operating Room
复制标题
机器人辅助心脏手术的优化规划：手术室的转移精度
DOI：
10.1007/3-540-36268-1_38
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
G. Guthart
中科院分区：
文献类型：
--
作者：
È. Coste;L. Adhami;F. Mourgues;Olivier Bantiche;D. Le;D. Daunt;Nick Swarup;J. Salisbury;G. Guthart
这项工作的目的是量化的错误，在不同层次的应用结果计划使用计算机集成系统（CIS）在手术室，并利用这些错误，以适应转移和重新思考的规划。特别是，术前成像和术中患者模型之间的配准，以及患者和机器人之间的解决。使用两种不同的配准方法，并比较其精度。此外，进行增强现实试验以评估将术前数据适应术中模型的难度，以便在介入期间向外科医生提供有用的信息。本文中的实验工作是使用Da芬奇™外科手术系统对犬进行冠状动脉旁路介入术。
The aim of this work is to quantify the errors introduced at different levels of applying results planned using a computer integrated system (CIS) in the operating room, and make use of these errors to adapt the transfer and rethink the planning. In particular, the registration between preoperative imaging and intraoperative patient model, as well as between the patient and the robot are addressed. Two different registration methods are used and their accuracy compared. Moreover, augmented reality trials are conducted to assess the difficulty of adapting preoperative data to intraoperative models in order to deliver useful information to the surgeon during the intervention. The experimental work in this paper is conducted on a dog for a coronary bypass intervention using the Da Vinci™ surgical system.
DOI：
10.1109/jra.1987.1087109
发表时间：
1987-08-01
期刊：
IEEE JOURNAL OF ROBOTICS AND AUTOMATION
影响因子：
--
作者：
TSAI, RY
通讯作者：
TSAI, RY