A surgical robot with augmented reality visualization for stereoelectroencephalography electrode implantation
A surgical robot with augmented reality visualization for stereoelectroencephalography electrode implantation
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DOI：
10.1007/s11548-017-1634-1
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发表时间：
2017-08-01
影响因子：
3
通讯作者：
Wang, Guangzhi
中科院分区：
文献类型：
--
作者：
Zeng, Bowei;Meng, Fanle;Wang, Guangzhi
目的利用现有的立体脑电（SEEG）电极植入手术机器人系统，很难直观地验证配准精度，并向外科医生显示患者空间中电极进入点（EP）和电极轨迹周围的解剖结构。本文提出了一个原型系统，可以实现视频透视增强现实（VAR）和空间增强现实（SAR）的SEEG植入。该系统可以帮助外科医生快速，直观地确认配准精度，定位EP和可视化的内部解剖结构在图像空间和patient spaces.Methods我们设计和开发了一个投影仪相机系统（PCS）连接到远端法兰的机器人arm. First，系统校准进行。其次，PCS用于获得患者头部表面的点云，其用于患者到图像配准。最后，通过合并患者的实时视频和术前三维（3D）手术计划模型来产生VAR。此外，SAR是通过将规划电极轨迹和局部解剖结构投影到患者的头皮上来实现的。结果在体模上评估了配准误差、电极EP和靶点。基准配准误差为0.25 +/- 0.23 mm（最大1.22 mm），目标配准误差为0.62 +/- 0.28 mm（最大1.18 mm）。投影重叠误差为0.75 +/- 0.52 mm，预扭曲投影后的TP误差为0.82 +/- 0.23 mm，并评估了外科医生视点偏差引起的TP误差。结论该系统可以帮助外科医生在SEEG过程中快速验证配准精度，并可以为外科医生提供准确的EP位置和内部结构信息。通过更直观的手术信息，外科医生可以有更多的信心并且能够执行具有更好结果的手术。
Purpose Using existing stereoelectroencephalography (SEEG) electrode implantation surgical robot systems, it is difficult to intuitively validate registration accuracy and display the electrode entry points (EPs) and the anatomical structure around the electrode trajectories in the patient space to the surgeon. This paper proposes a prototype system that can realize video see-through augmented reality (VAR) and spatial augmented reality (SAR) for SEEG implantation. The system helps the surgeon quickly and intuitively confirm the registration accuracy, locate EPs and visualize the internal anatomical structure in the image space and patient space.Methods We designed and developed a projector-camera system (PCS) attached to the distal flange of a robot arm. First, system calibration is performed. Second, the PCS is used to obtain the point clouds of the surface of the patient's head, which are utilized for patient-to-image registration. Finally, VAR is produced by merging the real-time video of the patient and the preoperative three-dimensional (3D) operational planning model. In addition, SAR is implemented by projecting the planning electrode trajectories and local anatomical structure onto the patient's scalp.Results The error of registration, the electrode EPs and the target points are evaluated on a phantom. The fiducial registration error is 0.25 +/- 0.23 mm (max 1.22 mm), and the target registration error is 0.62 +/- 0.28 mm (max 1.18 mm). The projection overlay error is 0.75 +/- 0.52 mm, and the TP error after the pre-warped projection is 0.82 +/- 0.23 mm. The TP error caused by a surgeon's viewpoint deviation is also evaluated.Conclusion The presented system can help surgeons quickly verify registration accuracy during SEEG procedures and can provide accurate EP locations and internal structural information to the surgeon. With more intuitive surgical information, the surgeon may have more confidence and be able to perform surgeries with better outcomes.