Comparison of 3D Surgical Tool Segmentation Procedures with Robot Kinematics Prior
Comparison of 3D Surgical Tool Segmentation Procedures with Robot Kinematics Prior
复制标题
3D 手术工具分割程序与机器人运动学先验的比较
DOI：
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复制
发表时间：
2018
期刊：
影响因子：
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通讯作者：
B. Hannaford
中科院分区：
文献类型：
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作者：
Yun;Issac Huang;Kevin Huang;B. Hannaford
3D重建和手术工具分割是机器人辅助腹腔镜手术中几项高级任务所必需的。这些任务包括基于视觉的力估计、手术引导和医学图像配准，其中术前数据（CT或MRI扫描图像切片）在手术期间实时覆盖在患者解剖结构上[1]。在这项工作中，考虑了两个主要策略：（1）从2D图像中进行手术工具分割初始化，然后通过将分割结果投影到3D空间中来进行工具-组织相互作用区域附近的局部3D重建，以及（2）通过整个手术任务空间的3D重建初始化，然后从3D重建模型内进行手术工具分割。在Raven II手术机器人系统上实现了这两种方法，并在考虑不同任务参数的情况下，对两种方法的精度和时间复杂度进行了比较分析。最后，根据这项工作的结果，在第五节中概述了选择重建和分割策略以及特定情况下的程序的指南。
3D reconstruction and surgical tool segmentation are necessary for several advanced tasks in robot-assisted laparoscopic surgery. These tasks include vision-based force estimation, surgical guidance, and medical image registration where pre-operative data (CT or MRI scan image slices) are overlaid on patient anatomy in real-time during surgery [1] to name a few. In this work, two main strategies were considered: (1) initialize with surgical tool segmentation from 2D images, then proceed to local 3D reconstruction near the tool-tissue interaction region by projecting the segmented result into 3D space, and (2) initialize with 3D reconstruction of the entire surgical task space, followed by surgical tool segmentation from within the 3D reconstructed model. Both methods were implemented on the Raven II surgical robot system, and accuracy and time complexity for both methods were comparatively analyzed while considering various task parameters. Finally, based on the results of this work, guidelines for selecting reconstruction and segmentation strategies and procedure for particular situations are outlined in Section V.
DOI：
10.1109/ismr.2018.8333305
发表时间：
2018-03
期刊：
2018 International Symposium on Medical Robotics (ISMR)
影响因子：
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作者：
Yun-Hsuan Su;Kevin Huang;B. Hannaford
通讯作者：
Yun-Hsuan Su;Kevin Huang;B. Hannaford