Abstract
We proposed an augmented reality (AR) robotic system equipped with intraoperative visual guidance and gesture based control interface. The proposed feature is an enhancement of our AR robotic system. AR robotic system was introduced to the field of interventional medicine to assist surgeons in implementing medical operations under the augmented reality environment. The technique combining dextrous robot and AR guidance provides a new operational mode for surgeons. The introduction of robotic modules is to compliment surgeon's dexterity and to perform specific tasks defined during the surgery. Augmented reality provides additional visualization and interaction absence in a typical clinical environment. The interfacing system includes intraoperative tracking of surgical tools and virtual reconstruction of the visually occluded tool segment, and an intuitive gesture-based human-computer interaction centered on the projected organ. Preliminary experiments show that this novel human-machine interface is effective for surgical intervention.
Highlights
Invasive surgery (MIS) with its small artificial incisions imposed on the patient skin for operation is becoming a preferred surgical treatment comparing with the conventional open surgery
Users are allowed to interact with the Virtual Reality (VR) environment through human-computer interface that consists of computer graphic models and various sensors
With regards to the surgical robot, does it contribute to higher accuracy of the surgical operation and optimizes the procedural flow, it is easy for this intraoperative Augmented reality (AR) interface to incorporate the surgical robot assistance into the surgery, which includes the display of the robotic operation inside the patient and interactive control by the surgeons
Summary
Invasive surgery (MIS) with its small artificial incisions imposed on the patient skin for operation is becoming a preferred surgical treatment comparing with the conventional open surgery. Medical augmented reality is proposed to create the virtual scenes on the related physical tissues, organs or patient skin to assist surgeons visualizing the internal anatomy or invisible surgical planning such as operational distance, trajectories etc. AR system has been developed to enhance the endoscopic or laparoscopic view to extend surgeons' visibility of hidden anatomical structures that were beneath the surgical scene This augmentation facilitates the surgical operation to avoid risk regions like arteries and nerves. Grimson et al (Grimson et al, 1996) showed its potentials to surgical navigation systems that enhance physical scenes with the augmentation of overlaying virtual internal structures Another medical application of marking the surgical object with a virtual-pen was based on direct AR interface (Seo et al, 2007). Integrating the imaging guidance and the surgical robot assistance into minimally invasive operation brings the preoperative planning and intraoperative manipulation into perspective
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