Journal of Computer Aided Surgery Vol.8 No.2
J JSCAS vol.8, No.2, pp.81-87, 2006
Abstract
In the endoscopic surgical fields, much information which could be used intraoperatively is strongly demanded.
We formulated a new magneto-optic hybrid 3D sensor configuration, and have developed an augmented reality navigation
system using the accurate three dimensional sensor system that can be utilized in the endoscopic surgeries. This system
measures the 3D position of the tip of ultrasound probe in the abdominal cavity using magnetic 3D position tracker. Accuracy
of the magnetic tracker is affected by metallic objects such as surgical tools that distort the magnetic field. We propose
real-time distortion correction of the magnetic fields using a magneto-optic hybrid 3D position tracker aiming to acquire the
accurate 3D ultrasound image. In this paper, we evaluated the effectiveness of the navigation system especially that of our
method of rapid distortion correction of magnetic fields in the operative environment. The error caused by magnetic
distortion was reduced from 34.6 mm to 2.59 mm in position and from 9.08 degrees to 0.82 degrees in orientation. The time
to obtain the calibration data was 69 seconds. Three dimensional ultrasound imaging has the advantage that real time imaging
is acquirable, regardless of organ shift or distortion. Our experimental results showed the proposed method was effective.
Key words?
Augmented reality Navigation, Magnetic distortion correction, 3D-US, Endoscopic Surgery.
J JSCAS vol.8, No.2, pp.89-96, 2006
N/A now
J JSCAS vol.8, No.2, pp.97-102, 2006
Abstract
We have developed a novel robotic laparoscope for laparoscopic surgery to move the view point optically with
double wedge prisms instead of moving the laparoscope itself. In this study, based on the problems that a previous invivo
experiment pinpointed with the previous prototype, we redesigned a new prototype to widen the angle of view and
thin the diameter of the laparoscope. The tube's diameter is thinned down into 18 mm including a light source to fit in a
commercial trocar. The prptotype has a view moving angle of ±19.2°, a view moving speed of 7.7°/s and a view moving
error of 0.55±0.62 mm at a distance of 100 mm. It has an enough viewing area in the abdominal cavity and has a
suffisient speed in the actual use. For the image quality, it maintains a high quality of image resolution, less distortion
aberration and chromatic aberration. We received high evaluation marks for the image quality in the in-vivo experiment.
Keywords
Laparoscopic surgery, Medical robot, Minimally invasive surgery, Endoscopy.