Use of Mixed Reality in Attachment of Surgical Site Measurement Robot to Surgical Bed

被引:0
|
作者
Asano, Miho [1 ]
Yamada, Yoshito [2 ]
Kunii, Takahiro [3 ]
Koeda, Masanao [4 ]
Noborio, Hiroshi [2 ]
机构
[1] Osaka Int Coll, Dept Life Design, 6-21-57 Tohdacho, Moriguchi, Osaka 5708555, Japan
[2] Osaka Electrocommun Univ, Dept Comp Sci, 1130-70 Kiyotaki, Shijonawate, Osaka 5750063, Japan
[3] Kashina Syst Co Ltd, 116 22 Hiratacho, Hikone, Shiga 5220041, Japan
[4] Okayama Prefectural Univ, Dept Human Informat Engn, 111 Kuboki, Soja, Okayama 7191197, Japan
关键词
depth-depth matching algorithm; depth im- age camera; surgical navigation; digital imaging and com- munication in medicine; mixed reality; AUGMENTED REALITY; AREA;
D O I
10.20965/jrm.2024.p0694
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Recently, we have observed that the digital potential function defined by the difference between the real and virtual organ depth images is globally stable where the real and virtual livers coincide. This globality is then used to overlay the real and virtual livers. In this study, we consider the installation of a robotic mechanical system for measuring the depth images of real organs in the surgical bed. In general, virtual organs measured by CT or MRI show the position and posture of blood vessel groups and malignant tumors, and if these can be presented to the physician during surgery, he or she can operate while confirming their positions in real time. Although this robotic mechanical system is designed such that the camera can be raised or lowered as necessary to avoid interfering with the movement of the doctor, assistant, or nurse during surgery, it may still shift owing to contact with the hands or head of the doctor or nurse. In this study, an experiment was conducted in which a surgical measurement robotic mechanical system was constructed in a VR environment, and an actual robot was installed using this as a model. In the experiment, a video image of a virtual object was superimposed on that of a real object to confirm whether the surgical robotic mechanical system was able to accurately measure the surgical site.
引用
收藏
页码:694 / 703
页数:10
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