Kwok Ka-Wai, Mylonas George P, Sun Loi Wah, Lerotic Mirna, Clark James, Athanasiou Thanos, Darzi Ara, Yang Guang-Zhong
Royal Society/Wolfson Medical Image Computing Laboratory, Institute of Biomedical Engineering, Imperial College London, London, United Kingdom.
Med Image Comput Comput Assist Interv. 2009;12(Pt 1):410-7. doi: 10.1007/978-3-642-04268-3_51.
In robot-assisted procedures, the surgeon's ability can be enhanced by navigation guidance through the use of virtual fixtures or active constraints. This paper presents a real-time modeling scheme for dynamic active constraints with fast and simple mesh adaptation under cardiac deformation and changes in anatomic structure. A smooth tubular pathway is constructed which provides assistance for a flexible hyper-redundant robot to circumnavigate the heart with the aim of undertaking bilateral pulmonary vein isolation as part of a modified maze procedure for the treatment of debilitating arrhythmia and atrial fibrillation. In contrast to existing approaches, the method incorporates detailed geometrical constraints with explicit manipulation margins of the forbidden region for an entire articulated surgical instrument, rather than just the end-effector itself. Detailed experimental validation is conducted to demonstrate the speed and accuracy of the instrument navigation with and without the use of the proposed dynamic constraints.
在机器人辅助手术中，通过使用虚拟固定装置或主动约束进行导航引导，可以增强外科医生的能力。本文提出了一种实时建模方案，用于在心脏变形和解剖结构变化的情况下，实现具有快速简单网格自适应的动态主动约束。构建了一条平滑的管状路径，为灵活的超冗余机器人环绕心脏提供辅助，目的是进行双侧肺静脉隔离，作为治疗衰弱性心律失常和心房颤动的改良迷宫手术的一部分。与现有方法不同，该方法将详细的几何约束与整个关节式手术器械禁区的明确操作余量相结合，而不仅仅是末端执行器本身。进行了详细的实验验证，以证明使用和不使用所提出的动态约束时器械导航的速度和准确性。
