Image Guidance for Active Handheld Microsurgical Tools

描述（由申请人提供）：本项目将开发和验证一种工具，以提高视网膜显微手术的手工精度。拟议的项目将结合“Micron”，一种手持式减震仪器（CMU开发）和立体图像处理和跟踪软件（JHU开发），为显微外科创造一种主动手持式图像引导介入设备。该装置将利用Micron的尖端偏转能力帮助外科医生定位目标。该装置将在鸡绒毛膜尿囊膜上进行体内试验，以确定其在视网膜静脉插管中的效果。这一建议的三个具体目标是：1。基于视觉的仪器跟踪算法的发展：精确的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发展。2. 仪器尖端稳定算法的发展：考虑到工具尖端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尖端朝向目标，同时仍然允许外科医生持有仪器保留其尖端位置的最终控制。因此，这个目标涉及到从视觉信息控制工具尖端的算法的发展。3. 主动尖端引导的有效性评估：经过训练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能提高显微手术的性能。将视网膜静脉插管作为基准任务。视网膜静脉闭塞每年大约有10万例新病例，目前还没有广泛使用的有效治疗方法。该装置将促进这种疾病的治疗方法的发展，以及其他使用现有工具和技术同样不可行的显微外科手术。

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.