Augmented-reality-based surgical navigation for endoscope retrograde cholangiopancreatography: A phantom study

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-06-07 DOI:10.1002/rcs.2649

Zhipeng Lin, Zhuoyue Yang, Ranyang Li, Shangyu Sun, Bin Yan, Yongming Yang, Hao Liu, Junjun Pan

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Abstract

Background

Endoscope retrograde cholangiopancreatography is a standard surgical treatment for gallbladder and pancreatic diseases. However, surgeons is at high risk and require sufficient surgical experience and skills.

Methods

(1) The simultaneous localisation and mapping technique to reconstruct the surgical environment. (2) The preoperative 3D model is transformed into the intraoperative video environment to implement the multi-modal fusion. (3) A framework for virtual-to-real projection based on hand-eye alignment. For the purpose of projecting the 3D model onto the imaging plane of the camera, it uses position data from electromagnetic sensors.

Results

Our AR-assisted navigation system can accurately guide physicians, which means a distance of registration error to be restricted to under 5 mm and a projection error of 5.76 ± 2.13, and the intubation procedure is done at 30 frames per second.

Conclusions

Coupled with clinical validation and user studies, both the quantitative and qualitative results indicate that our navigation system has the potential to be highly useful in clinical practice.

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基于增强现实技术的内镜逆行胰胆管造影手术导航：模拟研究

背景：内镜逆行胰胆管造影术是胆囊和胰腺疾病的标准外科治疗方法。方法：（1）采用同步定位和绘图技术重建手术环境。(2) 将术前三维模型转化为术中视频环境，实现多模态融合。(3) 基于手眼对准的虚拟到现实投影框架。为了将三维模型投影到摄像机的成像平面上，它使用了电磁传感器的位置数据：结果：我们的 AR 辅助导航系统可以为医生提供精确的指导，这意味着注册误差的距离被限制在 5 毫米以下，投影误差为 5.76 ± 2.13，插管过程以每秒 30 帧的速度完成：结论：结合临床验证和用户研究，定量和定性结果均表明，我们的导航系统在临床实践中具有非常有用的潜力。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.