How Insights from In Vivo Human Pilot Studies with da Vinci Image Guidance are Informing Next Generation System Design

Piper C. Cannon, Shaan A Setia, N. Kavoussi, S. Herrell, Robert Robert Webster
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Abstract

Using an image guidance system constructed over the past several years [1], [2] we have recently collected our first in vivo human pilot study data on the use of the da Vinci for image guided partial nephrectomy [3]. Others have also previously created da Vinci image guidance systems (IGS) for various organs, using a variety of approaches [4]. Our system uses touch-based registration, in which the da Vinci’s tool tips lightly trace over the tissue surface and collect a point cloud. This point cloud is then registered to segmented medical images. We provide the surgeon a picture-in-picture 3D Slicer display, in which animated da Vinci tools move exactly as the real tools do in the endoscope view (see [2] for illustrations of this). The purpose of this paper is to discuss recent in vivo experiences and how they are informing future research on robotic IGS systems, particularly the use of ultrasound.
达芬奇图像引导在体内人体试验研究的见解如何为下一代系统设计提供信息
使用过去几年构建的图像引导系统[1],[2],我们最近收集了使用达芬奇进行图像引导部分肾切除术的首个体内人体先导研究数据[3]。其他人先前也使用多种方法为各种器官创建了达芬奇图像制导系统(IGS)[4]。我们的系统使用基于触摸的注册,其中达芬奇的工具提示轻轻跟踪组织表面并收集点云。然后将该点云配准到分割的医学图像上。我们为外科医生提供了一个图中图的3D切片机显示,其中动画达芬奇工具在内窥镜视图中与真实工具完全一样移动(参见[2]的插图)。本文的目的是讨论最近的体内经验,以及它们如何为机器人IGS系统的未来研究提供信息,特别是超声波的使用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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