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Augmented Reality Image Guidance in Minimally Invasive Prostatectomy

机译:微创前列腺切除术中的增强现实图像指导

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This paper presents our work aimed at providing augmented reality (AR) guidance of robot-assisted laparoscopic surgery (RALP) using the da Vinci system. There is a good clinical case for guidance due to the significant rate of complications and steep learning curve for this procedure. Patients who were due to undergo robotic prostatectomy for organ-confined prostate cancer underwent preoperative 3T MRI scans of the pelvis. These were segmented and reconstructed to form 3D images of pelvic anatomy. The reconstructed image was successfully overlaid onto screenshots of the recorded surgery post- procedure. Surgeons who perform minimally-invasive prostatectomy took part in a user-needs analysis to determine the potential benefits of an image guidance system after viewing the overlaid images. All surgeons stated that the development would be useful at key stages of the surgery and could help to improve the learning curve of the procedure and improve functional and oncological outcomes. Establishing the clinical need in this way is a vital early step in development of an AR guidance system. We have also identified relevant anatomy from preoperative MRI. Further work will be aimed at automated registration to account for tissue deformation during the procedure, using a combination of transrectal ultrasound and stereoendoscopic video.
机译:本文介绍了我们的工作,旨在使用da Vinci系统为机器人辅助的腹腔镜手术(RALP)提供增强现实(AR)指导。由于此过程的并发症发生率高且学习曲线陡峭,因此有很好的指导临床案例。因器官受限的前列腺癌而应进行机器人前列腺切除术的患者在术前对骨盆进行了3T MRI扫描。这些被分割并重建以形成骨盆解剖的3D图像。重建的图像成功地覆盖在所记录的手术后程序的屏幕截图上。进行微创前列腺切除术的外科医生在查看叠加的图像后参加了用户需求分析,以确定图像引导系统的潜在优势。所有外科医生均表示,这一发展将在外科手术的关键阶段有用,并有助于改善手术的学习曲线,并改善功能和肿瘤学结局。以这种方式建立临床需求是AR指导系统开发中至关重要的早期步骤。我们还从术前MRI确定了相关的解剖结构。进一步的工作将结合经直肠超声和立体内窥镜视频,致力于自动注册以解决手术过程中的组织变形。

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