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，已经成为实现微创手术和远程手术的研究热点。通常，手术期间的患者运动引起治愈的病变的实际位置与术前图像中的预先规划的位置之间的差异，这对于实现高度精确的机器人手术是有问题的。基于上述背景，本研究的具体目标是通过手术机器人和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，并更新机器人控制。所提出的仪器使用超声图像，并通过使用新型超声图像分割技术真实的修改针路径。 关于我们 在olunteer实验中，针路径更新时间分别为每周期130和301 ms。在动物实验中，针可以准确地放置在目标中。本研究的第二组是将导航器回波和投影轮廓匹配应用于MR引导肝脏机器人治疗的快速二维图像配准。我们通过使用改进的梯度回波成像获得沿读出和相位编码方向的导航回波沿着。通过从图像中屏蔽肝脏轮廓并使用互相关或互信息作为相似性度量来执行轮廓匹配，可以实现这种配准。体模和志愿者的研究表明，该方法可以在34 ms的均方根误差为1.6 mm时，给定的肝脏的错位是30 mm。总之，两个眩晕执行registratiodies表明，积极的术中图像引导方面的机器人控制，并显示可行性苹果技术在现实的手术设置。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