Representing flexible endoscope shapes with hermite splines
Representing flexible endoscope shapes with hermite splines
复制标题
用 Hermite 样条曲线表示柔性内窥镜形状
DOI：
10.1117/12.844234
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
R. Ellis
中科院分区：
文献类型：
--
作者：
E. Chen;S. Fowler;L. Hookey;R. Ellis
柔性内窥镜的导航是一项具有挑战性的手术任务：内窥镜末端执行器的形状与周围组织相互作用，决定了内窥镜被推动所沿的手术路径沿着。我们提出了一个导航系统，可视化的柔性内窥镜管的形状，以协助胃肠道外科医生进行自然孔经腔内镜手术（NOTES）。该系统使用电磁定位跟踪器、嵌入多个电磁传感器的导管和可视化图形用户界面。Hermite样条用于解释内窥镜传感器的位置和方向输出。我们在活体猪上进行了NOTES实验，涉及6名胃肠外科医生和6名普通外科医生。首先使用该设备的参与者比不使用该设备时快14.2%。第二次使用该设备的参与者比第一次快33.6%。这一趋势表明，基于样条的可视化是NOTES程序中一个很有前途的辅助工具。
Navigation of a flexible endoscope is a challenging surgical task: the shape of the end effector of the endoscope, interacting with surrounding tissues, determine the surgical path along which the endoscope is pushed. We present a navigational system that visualized the shape of the flexible endoscope tube to assist gastrointestinal surgeons in performing Natural Orifice Translumenal Endoscopic Surgery (NOTES). The system used an electromagnetic positional tracker, a catheter embedded with multiple electromagnetic sensors, and graphical user interface for visualization. Hermite splines were used to interpret the position and direction outputs of the endoscope sensors. We conducted NOTES experiments on live swine involving 6 gastrointestinal and 6 general surgeons. Participants who used the device first were 14.2% faster than when not using the device. Participants who used the device second were 33.6% faster than the first session. The trend suggests that spline-based visualization is a promising adjunct during NOTES procedures.