Journal of Computer Aided Surgery Vol.3 No.2

表面および濃淡値に基づく剛体的位置合わせ

Surface-based and Volume-based Registration of Rigid Body

田村進一*
大阪大学大学院医学系研究科
Shinichi Tamura
Graduate School of Medicine, Osaka University

Abstract
When employing multimodal images, adjusting scales and positions between them by determining spatial correspondences is necessary, and in surgical navigation combining real space where a patient is present and virtual space in a computer is necessary. These are an operation determining corresponding relations between images etc. represented at different coordinates, and called "registration". Registration is the most important fundarnental technique in surgical navigation and in dealing with different images, and a lot of efforts have been made in developing this technique. Though the registration technique was developed originally in industrial field, it has become remarkably advanced recently in medical imaging field, and presently it has power to pull the industrial field. Recently, two specialized books on registration were published successively. In the present article, registration techniques are explained from technical view point including the latest research trend.
Key words
Registration, ICP algorithm, Correlation ratio, Normalized correlation, Mutual information.

全方向映像と力覚による医用画像の表現

Representation of Medical Images Using Surrounded Screen and Haptic Display

橋本渉（正会員）*,岩田洋夫
筑波大学機能工学系
Wataru Hashimoto, Hiroo Iwata
Institute of Engineering Mechanics and Systems, University of Tsukuba

Abstract
This paper proposes a representation method of volumetric medical data by using a surrounded display and a hapticdisplay. The viewer is entirely surrounded by a spherical screen which projects volumetric medical data. Also the viewercan explore and interact with the data by using a haptic display. In this paper, we introduce two devices an immersive projection display called Ensphered Vision and a haptic display named Haptic Master. Then we illustrate the method of representation the data with these devices. Finally the effect of the representation is discussed.
Key words
Volumetric data, Haptics, Immersive projection display.

安全性・操作性を考慮した腹腔鏡マニピュレータ用マン・マシンインターフェースシステム（第1報）−命令入力方式の検討−

Safe and Simple Man-machine Interface for a Laparoscope Manipulator System ; Comparison of Command lnput Methods

小林英津子（正会員）a*,正宗　賢b,佐久間一郎a,土肥健純a,篠原一彦c,橋本大定c
a東京大学大学院新領域創成科学研究科
b東京電機大学理工学部
c埼玉医科大学総合医療センター
Etsuko Kobayashi a*, Ken Masamune b, Ichiro Sakuma a, Takeyoshi Dohi a, Kazuhiko Shinohara c, Daijo Hashimoto c
a Graduate school of Frontier Sciences,The Univ of TOkyo
b Fraduate school of Engineering, The Univ of Tokyo
c Department of Surgery,Saitama Medical School

Abstract
To seek for a suitable man-machine interface (MMI) for a laparoscopic manipulator system considering the usability, simplicity and avoidance of an input error, we have developed several MMI and performed a quantitative experiment and invivo experiment. We developed head mouse system using a head mounted gyro sensor and voice recognition system.' Furthermore, we proposed two command methods. ( 1) Random access method (RA): the surgeon directly commands the three degrees of freedom of the direction of the laparoscope. (2) Sequential access method (SA) : the surgeon indicates the direction using the time difference of the On/Off command. By the quantitative evaluation experiment and in-vivo experiments we concluded that the voice recognition method takes more time to manipulate than the head mouse system and that SA method is more suitable than RA method for the laparoscope manipulator system. By the combination of the SA method and head mouse system, we achieved safe and simple man-machine interface.
Key words
Medical robot, Laparoscopic surgery, Man-machine interface.