Lerotic Mirna, Yang Guang-Zhong
Institute of Biomedical Engineering, Imperial College London, London, United Kingdom.
Comput Aided Surg. 2007 Nov;12(6):347-56. doi: 10.3109/10929080701727777.
In minimally invasive surgery, a small field of view is often required to achieve a large magnification factor during micro-scale tasks such as coronary anastomosis. However, constantly changing the orientation and focal length of the laparoscope camera is cumbersome, and can impose extra visual and cognitive load on the operating surgeon in terms of realigning the visual pathways and anatomical landmarks. The purpose of this paper is to investigate the use of fixational movements in robotic-assisted minimally invasive surgery, such that the perceived resolution of the foveal field of view is greater than the intrinsic resolution of the laparoscope camera. The proposed technique is based on super resolution imaging using projection onto convex sets for monochrome images, and a maximum a posteriori method with a novel YIQ space-based prior for color images. Validation with both phantom and in vivo data from totally endoscopic coronary artery bypass surgery is provided.
在微创手术中，在诸如冠状动脉吻合术等微观尺度任务中，通常需要小视野以实现大放大倍数。然而，不断改变腹腔镜摄像头的方向和焦距很麻烦，并且在重新调整视觉通路和解剖标志方面会给手术医生带来额外的视觉和认知负担。本文的目的是研究在机器人辅助微创手术中使用注视性运动，以使中央凹视野的感知分辨率大于腹腔镜摄像头的固有分辨率。所提出的技术基于用于单色图像的基于凸集投影的超分辨率成像，以及用于彩色图像的具有基于YIQ空间的新型先验的最大后验方法。提供了来自完全内镜下冠状动脉搭桥手术的体模和体内数据的验证。
