3D Camera-based Digital Image Correlation for Tissue Characterisation in Robot-Assisted Surgery

基于 3D 相机的数字图像相关，用于机器人辅助手术中的组织表征

• 批准号: 2894727
• 金额: --
• 依托单位: Heriot-Watt University
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2023
• 资助国家: 英国
• 起止时间: 2023 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2894727
• 关键词: 3D; Camera; based; Digital; Image

This is a PhD research project in Mechanical Engineering. The growing application of robot-assisted surgery has raised the possibility of improved minimally-invasive precision surgery with the help of robotic systems. Due to the 'remote' nature of the operation, surgeon loses direct sense of tactile feel and often relies on visual cues to determine optimal tissue tension, which is the key to essential surgical tasks such as tissue resection. This PhD project will establish a novel technical framework of 3D camera-based image processing and registration for tissue identification and characterisation in robot-assisted surgery. Using the camera data acquired by the robotic system with a high-definition stereoscopic view of the surgical site, the PhD candidate will develop novel techniques of image processing and registration to reconstruct geometries of the surgical site, in a quasi-real-time fashion, with high levels of accuracy and robustness. The results will be fed back to the robotic systems using methods such as image overlay to provide the surgeons with essential information obtained.

这是机械工程学的博士研究项目。机器人辅助手术的日益增长的应用增加了在机器人系统的帮助下改善微创精度手术的可能性。由于手术的“遥远”性质，外科医生失去了直接的触觉感觉，并且通常依靠视觉提示来确定最佳的组织张力，这是进行基本手术任务（例如组织切除）的关键。该博士学位项目将建立一个新的技术框架，这些框架是基于3D摄像头的图像处理以及用于机器人辅助手术的组织识别和表征的注册。使用机器人系统获得的摄像头数据，具有高清的手术部位的高清立体视图，PhD候选人将以准确的准确性和鲁棒性来开发图像处理和注册的新技术，以重建手术部位的几何形状。结果将使用图像叠加层等方法馈回机器人系统，以向外科医生提供所获得的基本信息。