Image Guidance for Active Handheld Microsurgical Tools

描述(由申请人提供)：该项目将开发和验证一个工具，以提高人工视网膜显微手术的精度。拟议的项目将结合“Micron”手持式减震仪(在CMU开发)和立体图像处理和跟踪软件(在JHU开发)，创建一种用于显微手术的主动手持式图像引导介入设备。该设备将帮助使用美光的尖端偏转能力将外科医生引导到目标位置。该装置将在体内鸡绒毛膜尿囊膜上进行测试，以确定其在视网膜静脉插管中的有效性。这项提议的三个具体目标是：1.开发基于视觉的仪器跟踪算法：精确干预需要知道目标在视网膜表面的位置，以及手术工具相对于该目标的位置。因此，这一目标涉及到在立体显微镜图像中定位和视觉跟踪目标和工具的算法的开发。2.器械尖端稳定算法的发展：给定刀尖和目标在立体图像对中的相对位置，将开发控制算法来操纵Micron的尖端朝向目标，同时仍允许手持器械的外科医生保持对其尖端位置的最终控制。因此，该目标涉及用于根据视觉信息控制工具提示的算法的开发。3.主动针尖引导的有效性评估：训练有素的外科医生将对增强的Micron设备进行测试，以确定基于图像的引导是否改善了显微手术的性能。视网膜静脉插管将被用作基准任务。视网膜静脉阻塞以每年大约10万例新病例的速度发生，目前还没有广泛使用的有效治疗方法。拟议的设备将有助于开发这种疾病的治疗方法，以及使用现有工具和技术同样不可行的其他显微外科手术。

DESCRIPTION (provided by applicant): This project will develop and validate a tool for increasing manual precision for retinal microsurgery. The proposed project will combine "Micron," a handheld tremor-reducing instrument (developed at CMU) with stereo image-processing and tracking software (developed at JHU) to create an active handheld image guided interventional device for microsurgery. This device will help to guide the surgeon to a target using the tip-deflection capability of Micron. This device will be tested in vivo on chick chorioallantoic membrane to determine its efficacy in retinal vein cannulation. The three specific aims of this proposal are: 1. Development of vision-based instrument tracking algorithms: Precise intervention requires knowledge of the location of the target on the surface of the retina, and knowledge of the location of the surgical tool relative to that target. This aim therefore involves the development of algorithms to locate and visually track the target and tool in stereo microscope images. 2. Development of instrument tip stabilization algorithms: Given the relative location of the tool tip and target in a stereo image pair, control algorithms will be developed to manipulate the tip of Micron toward the target, while still allowing the surgeon holding the instrument to retain final control of its tip location. This aim therefore involves the development of algorithms for controlling the tool tip from visual information. 3. Evaluation of the effectiveness of active tip guidance: The enhanced Micron device will be tested by trained surgeons to determine if image-based guidance improves microsurgical performance. Retinal vein cannulation will be used as the benchmark task. Retinal vein occlusion occurs at the rate of roughly 100,000 new cases per year, and there is currently no widely used, effective treatment. The proposed device will facilitate the development of treatments for this disease as well as other microsurgical procedures that are similarly infeasible using currently available tools and techniques.