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.

这是机械工程的博士研究项目。机器人辅助手术的不断增长的应用提高了在机器人系统的帮助下改进微创精密手术的可能性。由于手术的“远程”性质，外科医生失去了直接的触觉感觉，并且经常依靠视觉提示来确定最佳组织张力，这是组织切除等基本手术任务的关键。该博士项目将建立一个基于 3D 相机的图像处理和配准的新颖技术框架，用于机器人辅助手术中的组织识别和表征。利用机器人系统获取的相机数据和手术部位的高清立体视图，博士候选人将开发图像处理和配准的新技术，以准实时的方式重建手术部位的几何形状，具有高水平的准确性和稳健性。结果将使用图像叠加等方法反馈给机器人系统，为外科医生提供获得的重要信息。