机器人辅助微创心脏手术的内镜增强现实研究

Frederic Devernay, F. Mourgues, È. Coste-Manière
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引用次数: 80

摘要

与内窥镜手术密切相关的一个问题是,由于视野狭窄,有时很难定位可以通过内窥镜看到的物体。在心脏手术中尤其如此,因为很难不把跳动的心脏上的两条冠状动脉弄混。我们提出了一种方法来实现冠脉定位的增强现实机器人立体内窥镜。我们提出的方法包括五个步骤:使用冠状造影和ct扫描或MRI制作心脏跳动的时变3D模型,校准立体内窥镜,重建3D手术场,将手术场表面与3D心脏模型进行配准,并通过增强现实技术在内窥镜图像上添加信息。我们与法国巴黎蓬皮杜欧洲医院的心脏外科团队进行了首次实验,使用了达芬奇/sup TM/手术系统。
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Towards endoscopic augmented reality for robotically assisted minimally invasive cardiac surgery
One of the problems tightly linked to endoscopic surgery is the fact that, because of the narrow field of view, it is sometimes quite difficult to locate the objects that can be seen through the endoscope. This is especially true in cardiac surgery, where it is difficult to not confuse two coronary arteries on a beating heart. We propose a methodology to achieve coronary localisation by augmented reality on a robotized stereoscopic endoscope. The method we propose involves five steps: making a time-variant 3D model of the beating heart using coronarography and CT-scan or MRI, calibrating the stereoscopic endoscope, reconstructing the 3D operating field, registering the operating field surface with the 3D heart model, and adding information on the endoscopic images by augmented reality. The da Vinci/sup TM/ surgical system was used for our first experiments with the Cardiac Surgery team at Hopital Europeen Georges Pompidou, Paris, France.
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