Flexible Calibration of Actuated Stereoscopic Endoscope for Overlay in Robot Assisted Surgery
Flexible Calibration of Actuated Stereoscopic Endoscope for Overlay in Robot Assisted Surgery
复制标题
机器人辅助手术中用于叠加的驱动立体内窥镜的灵活校准
DOI：
10.1007/3-540-45786-0_4
复制
发表时间：
2002
影响因子：
10.6
通讯作者：
È. Coste
中科院分区：
文献类型：
--
作者：
F. Mourgues;È. Coste
机器人辅助在微创手术中极大地受益于手术手势。尽管如此，外科医生仍然受到内窥镜手术视野的限制。因此，我们建议使用术前数据来增强内窥镜图像。本文的重点是利用先验信息通过对致动的立体内窥镜进行精确校准来初始化覆盖。该方法的灵活性避免了在手术室中增加任何跟踪系统，并可应用于其他增强现实系统。给出了用达芬奇？手术系统，以及使用这些结果来初始化塑料心脏的内窥镜图像与冠状动脉模型的覆盖。
Robotic assistance have greatly benefited the operative gesture in mini-invasive surgery. Nevertheless, the surgeon is still suffering from the restricted vision of the operating field through the endoscope. We thus propose to augment the endoscopic images with preoperative data.This paper focuses on the use of a priori information to initialise the overlay by a precise calibration of the actuated stereoscopic endoscope. The flexibility of the proposed method avoids any additional tracking system in the operating room and can be applied to other augmented reality systems. We present quantitative experimental calibration results with the da Vinci? surgical system, as well as the use of these results to initialise the overlay of endoscopic images of a plastic heart with a coronary artery model.