より安全なロボット支援手術に向けて：マーカーレス拡張現実フレームワーク
Towards Safer Robot-Assisted Surgery: A Markerless Augmented Reality Framework
手術器具と血管の衝突による出血を防ぐため、ステレオ再構成とセグメンテーションを組み合わせたマーカーレスARフレームワークを提案し、da Vinci Research Kitでの模擬リンパ節郭清で有効性を検証した。
著者: Ziyang Chen, Laura Cruciani, Ke Fan, Matteo Fontana, Elena Lievore, Ottavio De Cobelli, Gennaro Musi, Giancarlo Ferrigno, Elena De Momi
分類: cs.RO
原文アブストラクト
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we proposed a markerless augmented reality framework to enhance safety by avoiding intra-operative bleeding which is a high risk caused by the collision between the surgical instruments and the blood vessel. Advanced stereo reconstruction and segmentation networks are compared to find out the best combination to reconstruct the intra-operative blood vessel in the 3D space for the registration of the pre-operative model, and the minimum distance detection between the instruments and the blood vessel is implemented. A robot-assisted lymphadenectomy is simulated on the da Vinci Research Kit in a dry lab, and ten human subjects performed this operation to explore the usability of the proposed framework. The result shows that the augmented reality framework can help the users to avoid the dangerous collision between the instruments and the blood vessel while not introducing an extra load. It provides a flexible framework that integrates augmented reality into the medical robot platform to enhance safety during the operation.
