Tracked "Pick-Up" Ultrasound for Robot-Assisted Minimally Invasive Surgery
Tracked "Pick-Up" Ultrasound for Robot-Assisted Minimally Invasive Surgery
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DOI：
10.1109/tbme.2015.2453173
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发表时间：
2016-02-01
影响因子：
4.6
通讯作者：
Salcudean, Septimiu
中科院分区：
文献类型：
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作者：
Schneider, Caitlin;Nguan, Christopher;Salcudean, Septimiu
目的：我们提出了一种用于腹腔内机器人辅助微创手术的新型“拾取”超声换能器。这种“拾取”超声换能器在手术开始时通过腹部切口插入，并在整个过程中保持在腹腔内，不需要专用端口或患者床边手术助手。换能器有一个手柄，可以使用达芬奇Prograsp工具以可重复的方式抓取，允许外科医生使用达芬奇机器人精确操作换能器。这是实现传感器三维跟踪的一种方法，因此，绘制血管系统。三维血管图像可用于术前CT与术中相机图像的配准。方法：为了证明该方法的可行性，我们使用超声血管假体注册CT表面模型来提取超声血管模型。通过分割b模式图像并使用达芬奇运动学、内部电磁传感器或适合相机跟踪的可见基准跟踪拾取超声换能器，生成三维血管幻影图像。结果：使用达芬奇运动学进行跟踪的重建结果给出了5.4 +/- 1.7 mm的目标配准误差。
Goal: We present a novel "pick-up" ultrasound transducer for intraabdominal robot-assisted minimally invasive surgery. Such a "pick-up" ultrasound transducer is inserted through an abdominal incision at the beginning of the procedure and remains in the abdominal cavity throughout, eliminating the need for a dedicated port or a patient bedside surgical assistant. The transducer has a handle that can be grasped in a repeatable manner using a da Vinci Prograsp tool, allowing the transducer to be accurately manipulated by the surgeon using the da Vinci Robot. This is one way to enable 3-D tracking of the transducer, and, thus, mapping of the vasculature. The 3-D vascular images can be used to register preoperative CT to intraoperative camera images. Methods: To demonstrate the feasibility of the approach, we use an ultrasound vessel phantom to register a CT surface model to extracted ultrasound vessel models. The 3-D vascular phantom images are generated by segmenting B-mode images and tracking the pick-up ultrasound transducer with the da Vinci kinematics, internal electromagnetic sensor, or visible fiducials suitable for camera tracking. Results: Reconstruction results using da Vinci kinematics for tracking give a target registration error of 5.4 +/- 1.7 mm.