Mohammad R. Maddah , Cedric Dumas , Olivier Gauthier , Marion Fusellier , Caroline G.L. Cao
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引用次数: 2
摘要
目的:在机器人辅助微创手术中,气道放置是一项重要的术前任务。由于充气过程,腹部形状发生变形,内脏器官位置发生移位。在确定机械臂的最佳端口位置时,需要考虑这些变化。然而,术中医学图像采集系统并不总是可用的。在这项研究中,我们的目的是通过测量3只猪在充气前后腹部器官的体积和位置的变化来估计人类腹部器官的移位程度。方法利用磁共振成像(MRI)对猪进行充气前后的三维成像,重建猪腹部和腹部器官的三维模型。观察充气后腹部脏器的位置移位和形态变化。基于腹部模型,确定了机械臂端口位置的相应移位。结果脾脏(6.37±0.10 cm)和肝脏(1.64±0.22 cm)因充气引起的脏器运动。即使目标器官的轻微平面运动(如左肾在X-Y平面上1.33±0.06 cm, 2.38±0.21 cm)也可以使机器人机械手的入口在腹部表面移动约1.6 cm。结论在机器人辅助微创手术中,靶器官因充气引起的运动是确定手术端口位置的关键因素。
Measuring organ shift and deformation for port placement in robot-assisted minimally invasive surgery
Objective
Port placement is a crucial pre-operative task in robot-assisted minimally invasive surgery. Due to the insufflation process, the abdominal shape is deformed while the internal organs are shifted in position. These changes need to be considered when determining the optimal port locations for the robotic manipulators. However, intra-operative medical image acquisition systems are not always available. In this study, we aim to estimate the shift extent of the abdominal organs in humans by measuring the changed volume and position of the abdominal organs before and after insufflation in three pigs.
Methods
A 3D model of the abdomen and abdominal organs was reconstructed from 3D images of the pigs taken by an MRI scanner before and after insufflation. Position shift and shape changes of the abdominal organs after insufflation were determined. The corresponding shift in port location for the robotic manipulators was determined based on the abdominal model.
Results
Organ movements as a result of insufflation ranged from 6.37 ± 0.10 cm for the spleen, to 1.64 ± 0.22 cm for the liver. Even a slight planar motion of the target organ (e.g., 1.33 ± 0.06 cm, 2.38 ± 0.21 cm in X-Y plane for the left kidney) can shift the access port for the robot manipulator by about 1.6 cm on the abdominal surface.
Conclusions
The target organs’ motion due to insufflation is a critical factor in determining port locations in robot-assisted minimally invasive surgery.
期刊介绍:
Laparoscopic, Endoscopic and Robotic Surgery aims to provide an academic exchange platform for minimally invasive surgery at an international level. We seek out and publish the excellent original articles, reviews and editorials as well as exciting new techniques to promote the academic development.
Topics of interests include, but are not limited to:
▪ Minimally invasive clinical research mainly in General Surgery, Thoracic Surgery, Urology, Neurosurgery, Gynecology & Obstetrics, Gastroenterology, Orthopedics, Colorectal Surgery, Otolaryngology, etc.;
▪ Basic research in minimally invasive surgery;
▪ Research of techniques and equipments in minimally invasive surgery, and application of laparoscopy, endoscopy, robot and medical imaging;
▪ Development of medical education in minimally invasive surgery.