Comput Methods Programs Biomed - Hand gesture guided robot-assisted surgery based on a direct augmented reality interface.

Tópicos

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Resumo

Radiofrequency (RF) ablation is a good alternative to hepatic resection for treatment of liver tumors. However, accurate needle insertion requires precise hand-eye coordination and is also affected by the difficulty of RF needle navigation. This paper proposes a cooperative surgical robot system, guided by hand gestures and supported by an augmented reality (AR)-based surgical field, for robot-assisted percutaneous treatment. It establishes a robot-assisted natural AR guidance mechanism that incorporates the advantages of the following three aspects: AR visual guidance information, surgeon's experiences and accuracy of robotic surgery. A projector-based AR environment is directly overlaid on a patient to display preoperative and intraoperative information, while a mobile surgical robot system implements specified RF needle insertion plans. Natural hand gestures are used as an intuitive and robust method to interact with both the AR system and surgical robot. The proposed system was evaluated on a mannequin model. Experimental results demonstrated that hand gesture guidance was able to effectively guide the surgical robot, and the robot-assisted implementation was found to improve the accuracy of needle insertion. This human-robot cooperative mechanism is a promising approach for precise transcutaneous ablation therapy.

Resumo Limpo

radiofrequ rf ablat good altern hepat resect treatment liver tumor howev accur needl insert requir precis handey coordin also affect difficulti rf needl navig paper propos cooper surgic robot system guid hand gestur support augment realiti arbas surgic field robotassist percutan treatment establish robotassist natur ar guidanc mechan incorpor advantag follow three aspect ar visual guidanc inform surgeon experi accuraci robot surgeri projectorbas ar environ direct overlaid patient display preoper intraop inform mobil surgic robot system implement specifi rf needl insert plan natur hand gestur use intuit robust method interact ar system surgic robot propos system evalu mannequin model experiment result demonstr hand gestur guidanc abl effect guid surgic robot robotassist implement found improv accuraci needl insert humanrobot cooper mechan promis approach precis transcutan ablat therapi

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