• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Visualization, Image-Guided Procedures pt.2; Progress in Biomedical Optics and Imaging; vol.8 no.28; Proceedings of SPIE-The International Society for Optical Engineering; vol.6509 pt.2 >Precision Instrument Placement Using a 4-DOF Robot with Integrated Fiducials for Minimally Invasive Interventions
【24h】

Precision Instrument Placement Using a 4-DOF Robot with Integrated Fiducials for Minimally Invasive Interventions

机译：使用带有集成基准的4-DOF机器人进行精密器械放置，以进行最小程度的干预

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Minimally invasive procedures are increasingly attractive to patients and medical personnel because they can reduce operative trauma, recovery times, and overall costs. However, during these procedures, the physician has a very limited view of the interventional field and the exact position of surgical instruments. We present an image-guided platform for precision placement of surgical instruments based upon a small four degree-of-freedom robot (B-Robll; ARC Seibersdorf Research GmbH, Vienna, Austria). This platform includes a custom instrument guide with an integrated spiral fiducial pattern as the robot's end-effector, and it uses intra-operative computed tomography (CT) to register the robot to the patient directly before the intervention. The physician can then use a graphical user interface (GUI) to select a path for percutaneous access, and the robot will automatically align the instrument guide along this path. Potential anatomical targets include the liver, kidney, prostate, and spine. This paper describes the robotic platform, workflow, software, and algorithms used by the system. To demonstrate the algorithmic accuracy and suitability of the custom instrument guide, we also present results from experiments as well as estimates of the maximum error between target and instrument tip.
机译：微创手术对患者和医护人员越来越有吸引力，因为它们可以减少手术创伤，恢复时间和总体成本。然而，在这些过程中，医师对介入领域和手术器械的确切位置的看法非常有限。我们基于小型四自由度机器人（B-Robll； ARC Seibersdorf Research GmbH，维也纳，奥地利）提供了一种用于精确放置手术器械的图像引导平台。该平台包括定制的器械指南，该器械指南具有集成的螺旋基准图案作为机器人的末端执行器，并且在术前使用术中计算机断层扫描（CT）将机器人直接注册给患者。然后，医生可以使用图形用户界面（GUI）选择用于经皮进入的路径，并且机器人将自动沿着该路径对齐仪器导轨。潜在的解剖目标包括肝脏，肾脏，前列腺和脊柱。本文介绍了系统使用的机器人平台，工作流程，软件和算法。为了证明定制仪器指南的算法准确性和适用性，我们还提供了实验结果以及目标和仪器尖端之间最大误差的估计值。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号