Gaze-Contingent Soft Tissue Deformation Tracking for Minimally Invasive Robotic Surgery
Gaze-Contingent Soft Tissue Deformation Tracking for Minimally Invasive Robotic Surgery
复制标题
用于微创机器人手术的注视相关软组织变形跟踪
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
Guang
中科院分区：
文献类型：
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作者：
G. Mylonas;D. Stoyanov;F. Deligianni;A. Darzi;Guang
在微创手术（MIS）中引入手术机器人已经允许通过使用微处理器控制的机械手腕来增强手动灵活性。尽管完全自主的机器人很有吸引力，但道德和法律的障碍都可能阻止它们在手术中的实际应用。本文的目的是证明，它是可以使用实时双目跟踪赋予机器人与人类的视觉，通过使用在现场获得的知识。通过利用水平视差和随观看距离变化的深度感知之间的密切关系，可以在MIS手术期间使用眼睛聚散度来恢复软组织的3D运动和变形。进行了体模和体内实验，以评估系统的潜在频率限制及其固有的深度恢复精度。该技术的潜在应用包括在存在大组织变形的情况下的运动稳定和术中规划。
The introduction of surgical robots in Minimally Invasive Surgery (MIS) has allowed enhanced manual dexterity through the use of microprocessor controlled mechanical wrists. Although fully autonomous robots are attractive, both ethical and legal barriers can prohibit their practical use in surgery. The purpose of this paper is to demonstrate that it is possible to use real-time binocular eye tracking for empowering robots with human vision by using knowledge acquired in situ. By utilizing the close relationship between the horizontal disparity and the depth perception varying with the viewing distance, it is possible to use ocular vergence for recovering 3D motion and deformation of the soft tissue during MIS procedures. Both phantom and in vivo experiments were carried out to assess the potential frequency limit of the system and its intrinsic depth recovery accuracy. The potential applications of the technique include motion stabilization and intra-operative planning in the presence of large tissue deformation.