Horizon Stabilized-Dynamic View Expansion for Robotic Assisted Surgery (HS-DVE)
Horizon Stabilized-Dynamic View Expansion for Robotic Assisted Surgery (HS-DVE)
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DOI：
10.1007/s11548-011-0603-3
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发表时间：
2012-03-01
影响因子：
3
通讯作者：
Yang, Guang-Zhong
中科院分区：
文献类型：
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作者：
Warren, Alexander;Mountney, Peter;Yang, Guang-Zhong
基于自然腔道腔内手术 (NOTES) 的新手术方法有可能进一步降低发病率和住院时间。然而，已经发现一些阻碍其临床应用的关键挑战，包括仪器设计不足和空间迷失方向。此外，后屈、缺失固定解剖参考和有限的视野是导致NOTES中定向障碍的关键因素。提出了一种集成方向感测和实时视觉处理的混合方法来恢复方向线索，以改进手术导航。铰接式机器人内窥镜的远端配备了惯性测量单元 (IMU)，使视频图像能够相对于地平线重新定向和稳定。这是通过测量相对于相机的重力方向来执行的。动态视野扩展用于增加内窥镜的视野。该方法将过去的视频图像注册到当前图像，并通过同时定位和映射 (SLAM) 创建解剖结构的放大可视化。该系统的临床潜力在 NOSsE 体模上进行的 NOTES 阑尾切除手术中得到了证明。这涉及到一个铰接式机器人内窥镜，在向后弯曲时导航以可视化阑尾。地平线稳定性还根据已知的地面实况进行定量评估。地平线稳定性和动态视图扩展的结合提供了一种在NOTES期间重新引入方向和导航提示的现实方法。该平台允许实时实施，这是进一步临床评估的重要前提。
New surgical approaches based on natural orifice transluminal surgery (NOTES) have the potential to further decrease morbidity and hospital stay. However, a number of key challenges have been identified preventing its clinical adoption, including inadequate instrument design and spatial disorientation. Furthermore, retroflexion, missing fixed anatomical references, and limited field-of-view are key factors contributing to disorientation in NOTES.A hybrid approach of integrated orientation sensing and real-time vision processing is proposed to restore orientation cues for improved surgical navigation. The distal tip of an articulated robotic endoscope is equipped with an inertial measurement unit (IMU) enabling video images to be reoriented and stabilized with respect to the horizon. This is performed by measuring the direction of gravity in relation to the cameras. Dynamic view expansion is used to increase the field-of-view of the endoscope. The method registers past video images to the current image and creates an enlarged visualization of the anatomy through simultaneous localization and mapping (SLAM).The clinical potential of the system is demonstrated on a NOTES appendectomy procedure performed on the NOSsE phantom. This involves an articulated robotic endoscope navigating to visualize the appendix while retroflexed. The horizon stabilization is additionally evaluated quantitatively against known ground truth.The combination of horizon stabilization and dynamic view expansion presents a realistic approach for reintroducing orientation and navigation cues during NOTES. The platform allows real-time implementation, which is an important prerequisite for further clinical evaluation.