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种工具，用于提高视网膜显微手术的手动精度。拟议的项目将结合联合收割机“微米”，一个手持震颤减少仪器（在CMU开发）与立体图像处理和跟踪软件（在JHU开发），以创建一个积极的手持图像引导介入设备的显微外科手术。该器械将有助于引导外科医生使用Micron的头端偏转能力到达目标。该器械将在鸡胚绒毛尿囊膜上进行体内试验，以确定其在视网膜静脉插管中的有效性。这项建议的三个具体目标是：1.基于视觉的仪器跟踪算法的开发：精确的干预需要了解视网膜表面上目标的位置，以及手术工具相对于该目标的位置。因此，这一目标涉及到算法的发展，定位和视觉跟踪的目标和工具的立体显微镜图像。2.器械尖端稳定算法的开发：鉴于立体图像对中工具尖端和目标的相对位置，将开发控制算法以操纵Micron尖端朝向目标，同时仍允许外科医生握住器械以保持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尖端的算法的开发。3.主动头端引导的有效性评价：将由经过培训的外科医生对增强型Micron器械进行测试，以确定基于图像的引导是否可改善显微手术性能。视网膜静脉插管将用作基准任务。视网膜静脉阻塞每年大约有10万例新发病例，目前还没有广泛使用的有效治疗方法。申报器械将促进该疾病的治疗以及其他显微外科手术的发展，这些手术使用目前可用的工具和技术同样不可行。

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.