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机器人辅助玻璃甲状腺外科手术的Trocar定位

Jeremy Birch1, Lyndon Da Cruz2, Kawal Rhode3

  • 1School of Biomedical Engineering and Imaging Sciences, King's College London, Strand, London, WC2R 2LS, UK. jeremy.birch@kcl.ac.uk.

International journal of computer assisted radiology and surgery
|June 24, 2023
PubMed
概括

这项研究引入了一种基于相机的方法,用于精确定位机器人辅助眼科手术中的三角骨. 该系统在必要的误差范围内获得准确的结果,提高了手术安全性.

关键词:
这是ArcoUcoU的故事.在这里,我们可以看到AuroraAuroraAurora.眼睛手术 眼睛手术定位局部化 定位局部化机器人技术 机器人技术 机器人技术这是一辆Trocar.

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科学领域:

  • 眼科医生 眼科 眼科
  • 机器人技术 机器人技术 机器人技术
  • 手术导航 手术导航

背景情况:

  • 机器人辅助手术提高了玻璃视网膜手术的精度.
  • 精确了解手术仪器的远程运动中心 (RCM) 和三关节插入点对于安全至关重要.
  • 防止损坏横向力需要将仪器的转点与交叉轴对齐.

研究的目的:

  • 开发和评估一种基于摄像机的方法,用于在机器人辅助玻璃甲状腺外科手术中准确地定位三关节.
  • 为了实现手术仪器的精确对齐,以确保安全的眼睛手术.

主要方法:

  • 一个安装在玻璃甲状腺外科手术上的微摄像头跟踪了两个ArUco标记器,这些标记器放置在托卡上.
  • 推车的位置被估计为跟踪标记之间的中点.
  • 该方法建立在之前开发的机器人系统之上.

主要成果:

  • 实验评估表明,标记物定位的根平均平方误差 (RMSE) 为1.82毫米.
  • 卡车定位实现了1.24毫米的RMSE.
  • 结果在关键的1.4毫米绝对误差范围内 (托卡半径).

结论:

  • 基于摄像头的三角骨定位方法为机器人辅助眼科手术提供了良好的一致性和准确性.
  • 该系统的性能是对现有方法的改进.
  • 为了在误差范围内保持一致的准确性,需要进一步细化标记器定位.