Augmented reality image guidance for minimally invasive coronary artery bypass
Augmented reality image guidance for minimally invasive coronary artery bypass
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DOI：
10.1117/12.774788
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发表时间：
2008-03
期刊：
影响因子：
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通讯作者：
M. Figl;D. Rueckert;D. Hawkes;R. Casula;Mingxing Hu;Ose Pedro;D. Zhang;G. Penney;F. Bello;P. Edwards
中科院分区：
文献类型：
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作者：
M. Figl;D. Rueckert;D. Hawkes;R. Casula;Mingxing Hu;Ose Pedro;D. Zhang;G. Penney;F. Bello;P. Edwards
我们提出了一种用于完全内窥镜冠状动脉搭桥术(TECAB)的新型图像引导系统。一个关键的要求是能够处理非刚性运动和变形的2D-3D配准技术的可用性。TECAB的图像引导主要是在心脏机械稳定之前进行的，因此心脏跳动是非刚性变形的最主要来源。为了增强达芬奇机器人内窥镜中的图像，我们必须找到从术前成像方式的坐标系到内窥镜摄像机系统的转换。在第一步中，我们建立了跳动心脏的4D运动模型。术中我们可以使用心电或视频处理来确定心动周期的时相。然后，我们可以从运动模型中提取心脏表面，并使用2D-3D配准方法将其配准到达芬奇机器人的立体内窥镜图像。为此，我们正在研究稳健的特征跟踪和基于强度的方法。然后，可以将术前坐标系中可用的血管图像转换到摄像系统，并使用两个具有色度键控的视频混合器将其投影到校准的内窥镜视图中。希望增强的切面可以提高TECAB手术的效率，降低中转率到更传统的手术。
We propose a novel system for image guidance in totally endoscopic coronary artery bypass (TECAB). A key requirement is the availability of 2D-3D registration techniques that can deal with non-rigid motion and deformation. Image guidance for TECAB is mainly required before the mechanical stabilization of the heart, thus the most dominant source of non-rigid deformation is the motion of the beating heart. To augment the images in the endoscope of the da Vinci robot, we have to find the transformation from the coordinate system of the preoperative imaging modality to the system of the endoscopic cameras. In a first step we build a 4D motion model of the beating heart. Intraoperatively we can use the ECG or video processing to determine the phase of the cardiac cycle. We can then take the heart surface from the motion model and register it to the stereo-endoscopic images of the da Vinci robot using 2D-3D registration methods. We are investigating robust feature tracking and intensity-based methods for this purpose. Images of the vessels available in the preoperative coordinate system can then be transformed to the camera system and projected into the calibrated endoscope view using two video mixers with chroma keying. It is hoped that the augmented view can improve the efficiency of TECAB surgery and reduce the conversion rate to more conventional procedures.