Towards real-time surface tracking and motion compensation integration for robotic surgery
Towards real-time surface tracking and motion compensation integration for robotic surgery
复制标题
实现机器人手术的实时表面跟踪和运动补偿集成
DOI：
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发表时间：
2017
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：
Kyle Lindgren;Kevin Huang;B. Hannaford
在没有复杂物理约束的情况下消除组织运动的能力将极大地稳定并有益于涉及频繁运动的外科手术。例子包括心脏跳动手术，呼吸导致组织运动的手术，以及在物理不稳定的操作环境（如战场，移动车辆，水下或空间站）的情况下。校准的立体相机测量物体相对于任何已知帧的3D位置，以及随后的运动。此外，现代立体相机对可以封装在小的形状因子中，使它们更适合物理上受限的相机。在这项工作中，跟踪物理模拟组织运动的方法进行了开发和分析，以实现与RAVEN IITM 1手术研究机器人组织运动补偿。结果是有希望的，并揭示了有关跟踪算法优化，硬件限制的见解，并鼓励将这项工作扩展到实时与适当的计算机硬件。
The ability to negate tissue motion without complex physical constraints would greatly stabilize and benefit surgical operations involving frequent movements. Examples include beating heart surgery, procedures where respiration causes tissue movement, and in the case of physically unstable operating environments such as a battlefield, moving vehicle, underwater or space station. A calibrated stereo camera measures the 3-D position of an object with relation to any known frame, and subsequently its motion. Furthermore, modern stereo camera pairs can be packaged in small form factors, making them more amenable to physically constrained workspaces. In this work, a method for tracking physically simulated tissue motion was developed and analyzed to be implemented with the RAVEN IITM1 surgical research robot for tissue motion compensation. Results are promising and reveal insights regarding tracking algorithm optimization, hardware limits, and are encouraging to extending this work to real-time with the incorporation of adequate computer hardware.