Augmented Reality for Port Placement and Navigation in Robotically - - PowerPoint PPT Presentation

▶

Oct 03, 2022 23 likes •143 views

Augmented Reality for Port Placement and Navigation in Robotically Assisted Minimally Invasive Cardiovascular Surgery Marco Feuerstein Fakultt fr Informatik, Technische Universitt Mnchen Klinik fr Herz- und Gefchirurgie,

SLIDE 1

June 26, 2004

Marco Feuerstein Fakultät für Informatik, Technische Universität München Klinik für Herz- und Gefäßchirurgie, Deutsches Herzzentrum München feuerste@cs.tum.edu

Augmented Reality for Port Placement and Navigation in Robotically Assisted Minimally Invasive Cardiovascular Surgery

SLIDE 2

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 2/12

Acknowledgements

Co-Authors:

– Jörg Traub – Martin Bauer – Eva Schirmbeck – Hesam Najafi – Robert Bauernschmitt – Gudrun Klinker

A.R.T. GmbH – Marc Schneberger
SFB 453

SLIDE 3

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 3/12

Problem Statement

Surgeon on a master console controls a slave teleoperator
Where to place the ports for the teleoperator arms?
Where are the teleoperator arms inside the patient’s body?

SLIDE 4

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 4/12

Workflow

Port Planning Perception Validation/Simulation Analysis Patient Registration Augmented Reality

SLIDE 5

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 5/12

Perception

Acquisition of cross-sectional image slices (CT)
Image segmentation
Reconstruction of a polygonal triangle mesh,

which is used to perform the planning

SLIDE 6

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 6/12

Planning the Teleoperator Arms

Definition of a region of

interest by landmarks

Placing of landmarks for

the ports of the endoscope and instrument arms

Visualization of

corresponding teleoperator arms in a collision-free way

Possibility to interactively

adjust all landmarks

SLIDE 7

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 7/12

Validation of Planned Data

Simulation of the view
f the endoscope

arm’s camera by a virtual endoscope view

Collision detection

between teleoperator arms and critical

rgans or bones

SLIDE 8

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 8/12

Port Placement Movie

SLIDE 9

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 9/12

Estimation of a

rigid transformation from the virtual model to the real patient

Point based

registration to match fiducials

Subsampling to

find the correspondences

Patient Registration

SLIDE 10

Augmented Reality for Port Placement and Navigation in RMICS Marco Feuerstein 26-Jun-2004 10/12