Ruijing Hospital, Department of Cardiosurgery, 197 Rui Jin Er Road, Shanghai, People's Republic of China.
Int J Med Robot. 2010 Mar;6(1):102-12. doi: 10.1002/rcs.297.
Preoperative planning and surgical navigation are two crucial aspects of a computer-assisted system for the success of minimally invasive cardiac surgery.
In the first part, port placement planning was mainly discussed. We proposed an algorithm based on four criteria to achieve optimized placement. In the second part, an optical tracker was used to locate the thoracoscope and surgical instruments accurately and to show the relative positions between the thoracoscope, surgical instruments and the patient's anatomical structures. An image-matching technique was employed to help the surgeon locate the target, using real-time thoracoscopic video images during the procedure.
In order to verify our proposed algorithms, several clinical planning cases were performed to compare our port placement algorithm to the traditional method. Both phantom test and animal study experiments were also done to demonstrate the validity of the target tracking of the system. Both the phantom test and the animal study revealed that the fiducial registration error (FRE) was 1.08 +/- 0.16 mm and system error was 5.05 +/- 0.67 mm, respectively.
A novel computer-assisted system for minimally invasive cardiac surgery has been developed. This method has shown its capability to achieve the preoperative planning and real-time surgery navigation.
术前规划和手术导航是计算机辅助微创心脏手术成功的两个关键环节。
在第一部分，主要讨论了端口放置规划。我们提出了一种基于四个标准的算法，以实现优化的放置。在第二部分，使用光学跟踪器准确地定位胸腔镜和手术器械，并显示胸腔镜、手术器械和患者解剖结构之间的相对位置。采用图像匹配技术，利用手术过程中的实时胸腔镜视频图像，帮助外科医生定位目标。
为了验证我们提出的算法，进行了几个临床规划案例，将我们的端口放置算法与传统方法进行了比较。还进行了幻影测试和动物研究实验，以证明系统目标跟踪的有效性。幻影测试和动物研究均显示，基准注册误差（FRE）分别为 1.08 +/- 0.16 毫米和 5.05 +/- 0.67 毫米。
开发了一种用于微创心脏手术的新型计算机辅助系统。该方法已显示出实现术前规划和实时手术导航的能力。
