机器人手术中的三维超声：使用立体显示器的性能评估
3D ultrasound in robotic surgery: performance evaluation with stereo displays.
作者信息
Novotny Paul M, Jacobsen Stephen K, Vasilyev Nikolay V, Kettler Daniel T, Salgo Ivan S, Dupont Pierre E, Del Nido Pedro J, Howe Robert D
机构信息
Division of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA.
出版信息
Int J Med Robot. 2006 Sep;2(3):279-85. doi: 10.1002/rcs.102.
BACKGROUND
The recent advent of real-time 3D ultrasound (3DUS) imaging enables a variety of new surgical procedures. These procedures are hampered by the difficulty of manipulating tissue guided by the distorted, low-resolution 3DUS images. To lessen the effects of these limitations, we investigated stereo displays and surgical robots for 3DUS-guided procedures.
METHODS
By integrating real-time stereo rendering of 3DUS with the binocular display of a surgical robot, we compared stereo-displayed 3DUS with normally displayed 3DUS. To test the efficacy of stereo-displayed 3DUS, eight surgeons and eight non-surgeons performed in vitro tasks with the surgical robot.
RESULTS
Error rates dropped by 50% with a stereo display. In addition, subjects completed tasks faster with the stereo-displayed 3DUS as compared to normal-displayed 3DUS. A 28% decrease in task time was seen across all subjects.
CONCLUSIONS
The results highlight the importance of using a stereo display. By reducing errors and increasing speed, it is an important enhancement to 3DUS-guided robotics procedures.
背景
实时三维超声（3DUS）成像技术的出现使得各种新型外科手术成为可能。然而，在由失真、低分辨率的3DUS图像引导进行组织操作时存在困难，这阻碍了这些手术的开展。为了减轻这些限制的影响，我们研究了用于3DUS引导手术的立体显示技术和手术机器人。
方法
通过将3DUS的实时立体渲染与手术机器人的双目显示器相结合，我们将立体显示的3DUS与正常显示的3DUS进行了比较。为了测试立体显示的3DUS的效果，八名外科医生和八名非外科医生使用手术机器人进行了体外任务。
结果
使用立体显示时错误率下降了50%。此外，与正常显示的3DUS相比，受试者使用立体显示的3DUS完成任务的速度更快。所有受试者的任务时间减少了28%。
结论
结果突出了使用立体显示的重要性。通过减少错误和提高速度，它是对3DUS引导的机器人手术程序的一项重要改进。
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