Serefoglou Stefanos, Lauer Wolfgang, Perneczky Axel, Lutze Theodor, Radermacher Klaus
Helmholtz Institute for Biomedical Engineering of the RWTH Aachen University, Pauwelsstrasse 20, 52074 Aachen, Germany.
Med Image Comput Comput Assist Interv. 2006;9(Pt 1):511-8. doi: 10.1007/11866565_63.
This paper describes the development of a robotic assistance system for image guided operations. To minimize operation time, a multimodal user interface enables freehand robotic manipulation of an extracorporeal stereoscopic digital camera (exoscope) and an endoscope. The surgeon thereby wears a head-mounted unit with a binocular display, a head tracker, a microphone and earphones. Different view positioning and adjustment modes can be selected by voice and controlled by head rotation while pressing a miniature confirmation button with a finger. Initial studies focused on the evaluation and optimization of the intuitiveness, comfort and precision of different modes of operation, including a user test with neurosurgeons in a virtual reality simulation. The first labtype of the system was then implemented and demonstrated in the operating room on a phantom together with the clinical partners.
本文描述了一种用于图像引导手术的机器人辅助系统的开发。为了最小化手术时间，多模态用户界面可实现对体外立体数码相机（外视镜）和内窥镜的徒手机器人操作。外科医生因此佩戴一个头戴式设备，该设备配有双目显示器、头部跟踪器、麦克风和耳机。不同的视图定位和调整模式可以通过语音选择，并在按下微型确认按钮的同时通过头部旋转进行控制。初步研究集中在评估和优化不同操作模式的直观性、舒适性和精确性，包括在虚拟现实模拟中对神经外科医生进行用户测试。然后，该系统的首个实验室版本与临床合作伙伴一起在手术室的模型上进行了实施和演示。
