Arbitrary Viewpoint Robotic Surgery

任意视角机器人手术

• 批准号: 9330681
• 负责人: Mark Draelos
• 金额: $ 4.02万
• 依托单位: DUKE UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-08-01 至 2019-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/9330681
• 关键词: Abdomen; Adopted; Adoption; Animals; Anterior; Cadaver; Characteristics; Computers; Coupled; Coupling; Development; Excision; Eye; Fatigue; Feedback; Generations; Goals; Grant; Hand; Human; Image; Imagery; Imaging Techniques; Imaging technology; Intuition; Joystick; Laparoscopic Surgical Procedures; Manuals; Microscope; Microsurgery; Modeling; Modernization; Monitor; Morbidity - disease rate; Motion; Nature; Operating Rooms; Operative Surgical Procedures; Optical Coherence Tomography; Outcome; Patients; Performance; Positioning Attribute; Procedures; Published Comment; Research; Retinal; Robot; Robotics; Safety; Scanning; Structure; Surgeon; Surgical Instruments; System; Techniques; Technology; Three-Dimensional Imaging; Time; Tissues; Training; Translating; Tremor; United States National Institutes of Health; Vendor; Visual; base; design; dexterity; experience; foot; haptics; image guided; improved; in vivo; innovation; input device; minimally invasive; neurosurgery; next generation; novel; skills; stereoscopic

PROJECT ABSTRACT Modern ophthalmic surgery depends on the stereo microscope for surgical field visualization to the extent that procedures best performed from alternate viewpoints are difficult if not impossible due to an inadequate view and non-intuitive surgical maneuvers. We seek to overcome limitations which physically couple the surgeon to both the stereo microscope and hand-held surgical instruments. This current paradigm causes ophthalmic mi- crosurgeons to frequently perform manually awkward maneuvers due to a limited, fixed point of view and limits in maneuverability imposed by the port based nature of these procedures. Under previous NIH support, Dr. Izatt’s group has been the leading academic research group introducing optical coherence tomography (OCT) technol- ogy into the operating room. Their microscope-integrated OCT (MIOCT) system design displays live 3D volumes of the surgical field in real time, viewed by the surgeon via a stereoscopic heads-up display or stereoscopic monitor, and can be interactively rotated, scaled, and zoomed to arbitrary viewpoints by the surgeon using foot joystick control. The ability provided by MIOCT for the surgeon to view the operative field from any viewpoint provides a revolutionary opportunity to intuitively increase the microsurgeon’s manual dexterity, range, and pre- cision by coupling live 3D imaging technology with interactive robotic manipulation of surgical instruments. We propose development of a technology we term Arbitrary Viewpoint Robotic Surgery (AVRS), which provides an intuitive interface for the surgeon to perform surgical maneuvers using a haptic interface from his/her preferred point of view, while these maneuvers are computationally translated to the surgical frame of reference and per- formed interactively using precise robotic manipulation. In addition to operating from an optimal dynamically adjustable viewpoint, AVRS would also provide for the surgeon to operate at a comfortable range scale through motion minification, for simultaneous control of an arbitrary number of surgical instruments, for techniques for surgeon tremor and patient motion removal, and for reduction in surgeon discomfort and fatigue through ergo- nomic design of visual and haptic interfaces. The proposed project includes the following specific aims: 1) De- velop and demonstrate technology for AVRS using live volumetric OCT imaging, and 2) Characterize the perfor- mance of the AVRS system and perform realistic ophthalmic microsurgical maneuvers in animal and cadaver eyes. The expected outcome of this proposal is a suite of technologies with potential to enhance ophthalmic microsurgical technique by overcoming viewpoint, port, and hand position limitations. These technologies will facilitate surgeon training, advance the skills of experienced surgeons, and thus potentially improve surgical outcomes for all patients. Further, we believe that development and demonstration of these technologies for ophthalmic microsurgery will develop concepts readily transferable to other surgical applications, such as neu- rosurgery or laparoscopic surgery, that may benefit from live 3D guidance using OCT and other imaging tech- niques.

项目摘要 现代眼科手术依赖立体显微镜进行手术视野可视化 由于视野不足，从其他角度进行最佳手术即使不是不可能，也是很困难的 我们寻求克服外科医生物理上的限制。 立体显微镜和手持式手术器械都会导致眼科误诊。 由于有限、固定的视角和限制，十字外科医生经常执行笨拙的手动操作 在 NIH 之前的支持下，Izatt 博士的这些程序的基于端口的性质所带来的可操作性。 课题组一直是引进光学相干断层扫描（OCT）技术的领先学术研究小组 他们的显微镜集成 OCT (MIOCT) 系统设计可显示实时 3D 体积。 外科医生通过立体平视显示器或立体显示器实时查看手术视野 监视器，并且可以由外科医生用脚交互地旋转、缩放和缩放到任意视点 MIOCT 为外科医生提供了从任何角度观察手术区域的能力。 提供了一个革命性的机会，可以直观地提高显微外科医生的手动灵活性、范围和预 我们通过将实时 3D 成像技术与手术器械的交互式机器人操作相结合来进行手术。 我们建议开发一种称为任意视点机器人手术（AVRS）的技术，该技术提供了 直观的界面，供外科医生使用他/她喜欢的触觉界面执行手术操作 的观点，而这些操作通过计算转化为手术参考框架和per- 除了从最佳动态操作之外，还使用精确的机器人操作交互式地形成。 可调节视点，AVRS 还可以让外科医生在舒适的范围内进行手术 运动最小化，用于同时控制任意数量的手术器械，用于技术 外科医生震颤和患者运动消除，并通过人体工学减少外科医生的不适和疲劳 视觉和触觉界面的经济设计。拟议的项目包括以下具体目标：1）De- 使用实时体积 OCT 成像开发和演示 AVRS 技术，以及 2) 表征性能 AVRS 系统的操作并在动物和尸体上进行逼真的眼科显微手术操作 该提案的预期成果是一套具有增强眼科潜力的技术。 这些技术将克服视点、端口和手位置的限制。 促进外科医生培训，提高经验丰富的外科医生的技能，从而潜在地改善外科手术 此外，我们相信这些技术的开发和示范对于所有患者都有好处。 眼科显微外科将开发易于转移到其他外科应用的概念，例如神经外科手术 手术或腹腔镜手术，可能受益于使用 OCT 和其他成像技术的实时 3D 引导 尼克斯。