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A Mixed Reality Guidance System for Robot Assisted Laparoscopic Radical Prostatectomy

机译:机器人辅助腹腔镜根治性前列腺切除术的混合现实制导系统

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摘要

Robotic surgery with preoperative imaging data for planning have become increasingly common for surgical treatment of patients. For surgeons using robotic surgical platforms, maintaining spatial awareness of the anatomical structures in the surgical area is key for good outcomes. We propose a Mixed Reality system which allows surgeons to visualize and interact with aligned anatomical models extracted from preoperative imagery as well as the in vivo imagery from the stereo laparoscope. To develop this system, we have employed techniques to 3D reconstruct stereo laparoscope images, model 3D shape of the anatomical structures from preoperative MRI stack and align the two 3D surfaces. The application we have developed allows surgeons to visualize occluded and obscured organ boundaries as well as other important anatomy that is not visible through the laparoscope alone, facilitating better spatial awareness during surgery. The system was deployed in 9 robot assisted laparoscopic prostatectomy procedures as part of a feasibility study.
机译:具有术前成像数据以进行计划的机器人手术已经越来越普遍地用于患者的手术治疗。对于使用机器人手术平台的外科医生来说,保持手术区域解剖结构的空间意识是取得良好结果的关键。我们提出了一种混合现实系统,该系统允许外科医生可视化并与从术前影像以及从立体腹腔镜获得的体内影像中提取的对齐解剖模型进行交互。为了开发该系统,我们采用了3D重建立体腹腔镜图像,从术前MRI堆栈建模解剖结构的3D形状并对齐两个3D表面的技术。我们开发的应用程序使外科医生可以可视化阻塞和模糊的器官边界以及仅通过腹腔镜无法看到的其他重要解剖结构,从而有助于在手术期间更好地了解空间。作为可行性研究的一部分,该系统被部署在9台机器人辅助的腹腔镜前列腺切除术程序中。

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