The Use of Super Resolution in Robotic Assisted Minimally Invasive Surgery
The Use of Super Resolution in Robotic Assisted Minimally Invasive Surgery
复制标题
超分辨率在机器人辅助微创手术中的应用
DOI：
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发表时间：
2006
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：
M. Lerotic;Guang
在微创手术中，在诸如冠状动脉吻合术的微尺度任务期间，通常需要小的视场以实现大的放大因子。然而，腹腔镜摄像机的取向和焦距的不断改变是麻烦的，并且在重新对准视觉通路和解剖标志时会对手术外科医生施加额外的视觉和认知负荷。本文的目的是研究使用固定运动的机器人辅助微创手术，这样的感知分辨率的中心凹视野是大于腹腔镜摄像机的固有分辨率。所提出的技术是基于超分辨率成像使用投影到凸集。提供了全内窥镜冠状动脉搭桥手术的体模和体内数据的验证。
In minimally invasive surgery, a small field-of-view is often required for achieving a large magnification factor during micro-scale tasks such as coronary anastomosis. Constant change of the orientation and focal length of the laparoscope camera, however, is cumbersome and can impose extra visual and cognitive load to the operating surgeon in realigning the visual pathways and anatomical landmarks. The purpose of this paper is to investigate the use of fixational movements for robotic assisted minimal invasive surgery such that the perceived resolution of the foveal field-of-view is greater than the intrinsic resolution of the laparoscope camera. The proposed technique is based on super resolution imaging using projection onto convex sets. Validation with both phantom and in vivo data from totally endoscopic coronary artery bypass surgery is provided.