Arbitrary Viewpoint Robotic Surgery

任意视角机器人手术

• 批准号: 9330681
• 负责人: Mark Draelos
• 金额: $ 4.02万
• 依托单位: DUKE UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-08-01 至 2019-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/9330681
• 关键词: Abdomen; Adopted; Adoption; Animals; Anterior; Cadaver; Characteristics; Computers; Coupled; Coupling; Development; Excision; Eye; Fatigue; Feedback; Generations; Goals; Grant; Hand; Human; Image; Imagery; Imaging Techniques; Imaging technology; Intuition; Joystick; Laparoscopic Surgical Procedures; Manuals; Microscope; Microsurgery; Modeling; Modernization; Monitor; Morbidity - disease rate; Motion; Nature; Operating Rooms; Operative Surgical Procedures; Optical Coherence Tomography; Outcome; Patients; Performance; Positioning Attribute; Procedures; Published Comment; Research; Retinal; Robot; Robotics; Safety; Scanning; Structure; Surgeon; Surgical Instruments; System; Techniques; Technology; Three-Dimensional Imaging; Time; Tissues; Training; Translating; Tremor; United States National Institutes of Health; Vendor; Visual; base; design; dexterity; experience; foot; haptics; image guided; improved; in vivo; innovation; input device; minimally invasive; neurosurgery; next generation; novel; skills; stereoscopic

PROJECT ABSTRACT Modern ophthalmic surgery depends on the stereo microscope for surgical field visualization to the extent that procedures best performed from alternate viewpoints are difficult if not impossible due to an inadequate view and non-intuitive surgical maneuvers. We seek to overcome limitations which physically couple the surgeon to both the stereo microscope and hand-held surgical instruments. This current paradigm causes ophthalmic mi- crosurgeons to frequently perform manually awkward maneuvers due to a limited, fixed point of view and limits in maneuverability imposed by the port based nature of these procedures. Under previous NIH support, Dr. Izatt’s group has been the leading academic research group introducing optical coherence tomography (OCT) technol- ogy into the operating room. Their microscope-integrated OCT (MIOCT) system design displays live 3D volumes of the surgical field in real time, viewed by the surgeon via a stereoscopic heads-up display or stereoscopic monitor, and can be interactively rotated, scaled, and zoomed to arbitrary viewpoints by the surgeon using foot joystick control. The ability provided by MIOCT for the surgeon to view the operative field from any viewpoint provides a revolutionary opportunity to intuitively increase the microsurgeon’s manual dexterity, range, and pre- cision by coupling live 3D imaging technology with interactive robotic manipulation of surgical instruments. We propose development of a technology we term Arbitrary Viewpoint Robotic Surgery (AVRS), which provides an intuitive interface for the surgeon to perform surgical maneuvers using a haptic interface from his/her preferred point of view, while these maneuvers are computationally translated to the surgical frame of reference and per- formed interactively using precise robotic manipulation. In addition to operating from an optimal dynamically adjustable viewpoint, AVRS would also provide for the surgeon to operate at a comfortable range scale through motion minification, for simultaneous control of an arbitrary number of surgical instruments, for techniques for surgeon tremor and patient motion removal, and for reduction in surgeon discomfort and fatigue through ergo- nomic design of visual and haptic interfaces. The proposed project includes the following specific aims: 1) De- velop and demonstrate technology for AVRS using live volumetric OCT imaging, and 2) Characterize the perfor- mance of the AVRS system and perform realistic ophthalmic microsurgical maneuvers in animal and cadaver eyes. The expected outcome of this proposal is a suite of technologies with potential to enhance ophthalmic microsurgical technique by overcoming viewpoint, port, and hand position limitations. These technologies will facilitate surgeon training, advance the skills of experienced surgeons, and thus potentially improve surgical outcomes for all patients. Further, we believe that development and demonstration of these technologies for ophthalmic microsurgery will develop concepts readily transferable to other surgical applications, such as neu- rosurgery or laparoscopic surgery, that may benefit from live 3D guidance using OCT and other imaging tech- niques.

项目摘要 现代眼科手术在一定程度上依赖于用于手术视野可视化的立体显微镜， 从不同的视角进行最佳手术是困难的，如果不是不可能的话， 和非直观的手术操作。我们试图克服物理上将外科医生与 体视显微镜和手持手术器械。目前的模式导致眼科疾病， 由于有限的、固定的视角和限制， 这些程序的港口性质所要求的可操作性。在以前的NIH支持下，Izatt博士 光学相干断层扫描（OCT）技术的领先学术研究小组， 把我送进手术室。他们的显微镜集成OCT（MIOCT）系统设计显示实时3D体积 外科医生通过立体平视显示器或立体显示器观察到的真实的外科手术区域 监视器，并且可以由外科医生使用脚交互地旋转、缩放和缩放到任意视点 操纵杆控制。MIOCT为外科医生提供的从任何角度观察术野的能力 提供了一个革命性的机会，直观地增加显微外科医生的手动灵活性，范围，和预 通过将实时3D成像技术与手术器械的交互式机器人操作相结合来实现精确度。我们 建议开发一种技术，我们称之为任意视点机器人手术（AVRS），它提供了一种 直观的界面，用于外科医生使用触觉界面从他/她的首选 从这个角度来看，虽然这些演习是计算翻译到手术参考系和每- 使用精确的机器人操作交互形成。除了从最佳的动态 可调视点，AVRS还将为外科医生提供在舒适的范围尺度下操作， 运动缩小，用于同时控制任意数量的手术器械，用于 外科医生震颤和患者运动消除，以及通过人体工程学减少外科医生的不适和疲劳， 视觉和触觉界面的著名设计。建议的项目包括以下具体目标：1） 使用实时体积OCT成像评估和演示AVRS技术，以及2）表征性能， AVRS系统的操作，并在动物和尸体上执行逼真的眼科显微手术操作 眼睛该提案的预期成果是一套有潜力提高眼科治疗效果的技术。 显微外科技术，克服观点，港口和手的位置限制。这些技术将 促进外科医生培训，提高经验丰富的外科医生的技能，从而潜在地改善外科手术 所有患者的结果。此外，我们认为，开发和展示这些技术， 眼科显微外科将发展容易转移到其他外科应用的概念，例如neu， 使用OCT和其他成像技术的实时3D引导可能会受益于手术或腹腔镜手术， 尼克。