Int J Comput Assist Radiol Surg - Projection-based visual guidance for robot-aided RF needle insertion.

Tópicos

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Resumo

RPOSE: The use of projector-based augmented reality (AR) in surgery may enable surgeons to directly view anatomical models and surgical data from the patient's surface (skin). It has the advantages of a consistent viewing focus on the patient, an extended field of view and augmented interaction. This paper presents an AR guidance mechanism with a projector-camera system to provide the surgeon with direct visual feedback for supervision of robotic needle insertion in radiofrequency (RF) ablation treatment.METHODS: The registration of target organ models to specific positions on the patient body is performed using a surface-matching algorithm and point-based registration. An algorithm based on the extended Kalman filter and spatial transformation is used to intraoperatively compute the virtual needle's depth in the patient's body for AR display.RESULTS: Experiments of this AR system on a mannequin were conducted to evaluate AR visualization and accuracy of virtual RF needle insertion. The average accuracy of 1.86?mm for virtual needle insertion met the clinical requirement of 2?mm or better. The feasibility of augmented interaction with a surgical robot using the proposed open AR interface with active visual feedback was demonstrated.CONCLUSIONS: The experimental results demonstrate that this guidance system is effective in assisting a surgeon to perform a robot-assisted radiofrequency ablation procedure. The novelty of the work lies in establishing a navigational procedure for percutaneous surgical augmented intervention integrating a projection-based AR guidance and robotic implementation for surgical needle insertion.

Resumo Limpo

rpose use projectorbas augment realiti ar surgeri may enabl surgeon direct view anatom model surgic data patient surfac skin advantag consist view focus patient extend field view augment interact paper present ar guidanc mechan projectorcamera system provid surgeon direct visual feedback supervis robot needl insert radiofrequ rf ablat treatmentmethod registr target organ model specif posit patient bodi perform use surfacematch algorithm pointbas registr algorithm base extend kalman filter spatial transform use intraop comput virtual needl depth patient bodi ar displayresult experi ar system mannequin conduct evalu ar visual accuraci virtual rf needl insert averag accuraci mm virtual needl insert met clinic requir mm better feasibl augment interact surgic robot use propos open ar interfac activ visual feedback demonstratedconclus experiment result demonstr guidanc system effect assist surgeon perform robotassist radiofrequ ablat procedur novelti work lie establish navig procedur percutan surgic augment intervent integr projectionbas ar guidanc robot implement surgic needl insert

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