Beyl T, Nicolai P, Mönnich H, Raczkowksy J, Wörn H
IPR, Karlsruhe Institute of Technology, Karlsruhe, Germany.
Stud Health Technol Inform. 2012;173:58-63.
In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.
在当前的研究中，机器人辅助干预中的触觉反馈发挥着重要作用。然而，大多数触觉反馈方法仅考虑将手术器械上的当前力映射到触觉输入设备，而外科医生需要医学成像和远程操作机器人装置的结合。在本文中，我们描述了这一特性是如何集成到我们的机器人研究平台OP:Sense中的。所提出的方法允许将分割后的成像数据自动传输到触觉渲染器，从而允许基于成像数据用虚拟夹具丰富触觉反馈。从术前生成的医学图像中提取解剖结构，或者由外科医生在成像数据中定义虚拟壁。将真实力与虚拟夹具相结合可以引导外科医生到达感兴趣的区域，并有助于防止对患者体内关键结构造成损伤的风险。我们认为，医学成像和远程操作的结合是下一代微创机器人手术系统的关键一步。
