Surgical robot with visual servo control by intra-operative images and distributed system architecture

利用术中图像进行手术引导，简称图像引导手术，是实现微创手术和远程手术的研究热点。手术过程中患者的运动往往会导致手术前图像中已治愈病变的实际位置与预先计划的位置之间的差异，这是实现高精度机器人手术的难题。基于上述背景，本研究的具体目的是通过手术机器人与医学图像处理的学科融合，开发图像处理和控制方法，以检测术中图像中的目标位置，并更新机器人的控制。作为本研究的第一套，开发了一种实时超声引导下经皮胆囊造瘘针插入医疗机器人。该仪器利用超声图像，并在体模和v…中使用一种新的超声图像分割技术来实时修改针道更多的志愿者实验，针路径更新时间分别为130ms和301ms/周期。在动物实验中，针可以准确地放在靶子上。这项研究的第二组是导航回波和投影轮廓匹配在MR引导的肝脏机器人治疗中的快速二维图像配准中的应用。利用改进的梯度回波成像技术，获得了读出方向和相位编码方向的导航回波。这种配准是通过将肝脏轮廓从图像中屏蔽出来，并使用互相关或互信息作为相似性度量来执行轮廓匹配来实现的。体模和志愿者研究都表明，当给定的肝脏错位为30 mm时，该方法可以在34ms内获得1.6 mm的均方根误差。综上所述，两种STUN都进行了区域分层，表明了术中图像引导对机器人控制的积极作用，并表明该技术在现实手术环境中应用的可行性。较少

Use of intra-operative image for surgical guidance, referred as image-guided surgery, has been the focus of interest to achieve minimally invasive surgery and remote surgery. Often the patient motion during the surgery induces the discrepancy between actual location of the cured lesion and that in the pre-planned location in pre-operative images, which are problematic to achieve highly accurate robotics surgery. Based on the background above, the specific aim of this study is to develop image processing and control method to detect the target location in the intra-operative images and update robot control, by disciplinary integration of surgical robotics and medical image processing.As the first set of this study, a real-time ultrasound-guided needle insertion medical robot for percutaneous cholecystostomy has been developed. The proposed instrument uses ultrasound images and modifies the needle path in real time by using a novel ultrasonic image segmentation technique In phantom and v … More olunteer experiments, the needle path update times were 130 and 301 ms per cycle, respectively. In animal experiments, the needle could be placed accurately in the target. The second set of this study was the application of navigator echo and projection profile matching to fast two-dimensional image registration for MR-guided liver robotic therapy. We obtain navigator echoes along the read-out and phase-encoding directions by using modified gradient echo imaging. This registration is made possible by masking out the liver profile from the image and performing profile matching with cross-correlation or mutual informaLion as similarity measures. Both the phantom and volunteer study indicate that this method can in 34 ms with root-mean-square error of 1.6 mm when the given misalignment of a liver is 30 mm.In conclusion, both stun perform registratiodies indicated the positive of intra-operative image guidance for aspects robotic control, and showed feasibility to apple the technology in realistic surgical setting. Less