腫瘍の自動探索と剛性マップの動的AR表示を行う手術支援システム
A surgical system for automatic registration, stiffness mapping and dynamic image overlay
da Vinci研究キットを用い、術前モデルと術中シーンの位置合わせから触診による腫瘍の剛性マップ推定、拡張現実での動的表示までを統合した手術システムを開発し、ファントムで有効性を示した。
著者: Nicolas Zevallos, Rangaprasad Arun Srivatsan, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena, Mengyun Xu, Kartik Patath, Howie Choset
分類: cs.RO
原文アブストラクト
In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location using augmented reality. Such a system has the potential to quickly reveal the location and shape of tumors and visually overlay that information to reduce the cognitive overload of the surgeon. We believe that our approach is one of the first to incorporate state-of-the-art methods in registration, force sensing and tumor localization into a unified surgical system. First, the preoperative model is registered to the intra-operative scene using a Bingham distribution-based filtering approach. An active level set estimation is then used to find the location and the shape of the tumors. We use a recently developed miniature force sensor to perform the palpation. The estimated stiffness map is then dynamically overlaid onto the registered preoperative model of the organ. We demonstrate the efficacy of our system by performing experiments on phantom prostate models with embedded stiff inclusions.
