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在达芬奇手术系统中的手术内腹腔镜光声学图像引导系统

Shang Gao¹, Yang Wang¹, Xihan Ma¹

¹Department of Robotics Engineering, Worcester Polytechnic Institute, 100 Institute Rd, Worcester, MA 01609, USA.

Biomedical optics express

|October 4, 2023

概括

这项研究引入了一种用于微创手术的新型光声学 (PA) 成像框架. 与手术机器人集成,它增强了关键解剖学的可视化,改善了手术安全性和结果.

科学领域:

医疗成像医学成像
手术机器人手术机器人手术机器人手术机器人
生物医学工程生物医学工程

背景情况:

最少侵入性手术 (MIS) 从增强的可视化中受益.
光声学 (PA) 影像提供高光学对比度和超声波 (US) 透.
目前的系统缺乏对神经血管结构的实时,综合的解剖指导.

研究的目的:

开发和评估MIS的手术内PA成像框架.
将PA成像与达芬奇外科系统集成,用于增强现实 (AR) 可视化.
为外科医生提供实时指导,在手术过程中识别关键解剖.

主要方法:

开发了一种与达芬奇手术系统兼容的PA成像框架.
集成的实时PA图像与通过AR覆盖的内镜视频输入.
使用幻影研究和实体实验实验与嵌入的血管验证了框架.

主要成果:

在幻影研究中实现了1.20 ± 0.71毫米的体积重建误差.
在一个ex vivo模型中成功展示了实时PA增强的血管可视化.
通过AR覆盖展示了关键解剖学的直观3D定位.

结论:

拟议的PA成像框架可以在MIS中实现实时的手术内指导.
它有潜力通过可视化其他看不见的重要结构来预防手术并发症.
该框架可以集成到机器人辅助手术中,以改善解剖和功能反.

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