PURPOSE: The use of projector-based augmented reality (AR) in surgery may enable surgeons to directly view anatomical models and surgical data from the patient's surface (skin). It has the advantages of a consistent viewing focus on the patient, an extended field of view and augmented interaction. This paper presents an AR guidance mechanism with a projector-camera system to provide the surgeon with direct visual feedback for supervision of robotic needle insertion in radiofrequency (RF) ablation treatment. METHODS: The registration of target organ models to specific positions on the patient body is performed using a surface-matching algorithm and point-based registration. An algorithm based on the extended Kalman filter and spatial transformation is used to intraoperatively compute the virtual needle's depth in the patient's body for AR display. RESULTS: Experiments of this AR system on a mannequin were conducted to evaluate AR visualization and accuracy of virtual RF needle insertion. The average accuracy of 1.86 mm for virtual needle insertion met the clinical requirement of 2 mm or better. The feasibility of augmented interaction with a surgical robot using the proposed open AR interface with active visual feedback was demonstrated. CONCLUSIONS: The experimental results demonstrate that this guidance system is effective in assisting a surgeon to perform a robot-assisted radiofrequency ablation procedure. The novelty of the work lies in establishing a navigational procedure for percutaneous surgical augmented intervention integrating a projection-based AR guidance and robotic implementation for surgical needle insertion.
PURPOSE: The use of projector-based augmented reality (AR) in surgery may enable surgeons to directly view anatomical models and surgical data from the patient's surface (skin). It has the advantages of a consistent viewing focus on the patient, an extended field of view and augmented interaction. This paper presents an AR guidance mechanism with a projector-camera system to provide the surgeon with direct visual feedback for supervision of robotic needle insertion in radiofrequency (RF) ablation treatment. METHODS: The registration of target organ models to specific positions on the patient body is performed using a surface-matching algorithm and point-based registration. An algorithm based on the extended Kalman filter and spatial transformation is used to intraoperatively compute the virtual needle's depth in the patient's body for AR display. RESULTS: Experiments of this AR system on a mannequin were conducted to evaluate AR visualization and accuracy of virtual RF needle insertion. The average accuracy of 1.86 mm for virtual needle insertion met the clinical requirement of 2 mm or better. The feasibility of augmented interaction with a surgical robot using the proposed open AR interface with active visual feedback was demonstrated. CONCLUSIONS: The experimental results demonstrate that this guidance system is effective in assisting a surgeon to perform a robot-assisted radiofrequency ablation procedure. The novelty of the work lies in establishing a navigational procedure for percutaneous surgical augmented intervention integrating a projection-based AR guidance and robotic implementation for surgical needle insertion.
Authors: Supan Tungjitkusolmun; S Tyler Staelin; Dieter Haemmerich; J Z Tsai; John G Webster; Fred T Lee; David M Mahvi; Vicken R Vorperian Journal: IEEE Trans Biomed Eng Date: 2002-01 Impact factor: 4.538
Authors: Frank K Wacker; Sherif G Nour; Rosana Eisenberg; Jeffrey L Duerk; Jonathan S Lewin Journal: AJR Am J Roentgenol Date: 2004-09 Impact factor: 3.959
Authors: Robert Krempien; Harald Hoppe; Lüder Kahrs; Sascha Daeuber; Oliver Schorr; Georg Eggers; Marc Bischof; Marc W Munter; Juergen Debus; Wolfgang Harms Journal: Int J Radiat Oncol Biol Phys Date: 2007-12-31 Impact factor: 7.038