Image-Guided Robotic Surgery

Medical image processing leads to an improvement in patient care by guiding the surgical gesture. Three-dimensional models of patients that are generated from computed tomographic scans or magnetic resonance imaging allow improved surgical planning and surgical simulation that offers the opportunity for a surgeon to train the surgical gesture before performing it for real. These two preoperative steps can be used intra-operatively because of the development of augmented reality, which consists of superimposing the preoperative three-dimensional model of the patient onto the real intraoperative view. Augmented reality provides the surgeon with a view of the patient in transparency and can also guide the surgeon, thanks to the real-time tracking of surgical tools during the procedure. When adapted to robotic surgery, this tool tracking enables visual servoing with the ability to automatically position and control surgical robotic arms in three dimensions. It is also now possible to filter physiologic movements such as breathing or the heart beat. In the future, by combining augmented reality and robotics, these image-guided robotic systems will enable automation of the surgical procedure, which will be the next revolution in surgery.

[1]  M. Giger,et al.  Automatic segmentation of liver structure in CT images. , 1993, Medical physics.

[2]  J. Marescaux,et al.  Three-Dimensional Virtual Cholangioscopy: A Reliable Tool for the Diagnosis of Common Bile Duct Stones , 2004, Annals of surgery.

[3]  J. Troccaz,et al.  A methodological tool for computer-assisted surgery interface design: its application to computer-assisted pericardial puncture. , 2001, Studies in health technology and informatics.

[4]  Luc Soler,et al.  Autonomous retrieval and positioning of surgical instruments in robotized laparoscopic surgery using visual servoing and laser pointers , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[5]  Ivan Poupyrev,et al.  The MagicBook - Moving Seamlessly between Reality and Virtuality , 2001, IEEE Computer Graphics and Applications.

[6]  E. Fishman,et al.  Automatic liver segmentation technique for three-dimensional visualization of CT data. , 1996, Radiology.

[7]  Luc Soler,et al.  A new robotic system for CT-guided percutaneous procedures with haptic feedback , 2004, CARS.

[8]  Luc Soler,et al.  Computer-aided suturing in laparoscopic surgery , 2004, CARS.

[9]  Y F Wang,et al.  A new framework for vision-enabled and robotically assisted minimally invasive surgery. , 1998, Computerized medical imaging and graphics : the official journal of the Computerized Medical Imaging Society.

[10]  Luc Soler,et al.  A 500 Hz predictive visual servoing scheme to mechanically filter complex repetitive organ motions in robotized surgery , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[11]  Ken Masamune,et al.  Three-Dimensional Slice Image Overlay System with Accurate Depth Perception for Surgery , 2000, MICCAI.

[12]  Luc Soler,et al.  Evaluation of a New 3D/2D Registration Criterion for Liver Radio-Frequencies Guided by Augmented Reality , 2003, IS4TH.

[13]  David J. Hawkes,et al.  Design and evaluation of a system for microscope-assisted guided interventions (MAGI) , 2000 .

[14]  Luc Soler,et al.  Beating heart tracking in robotic surgery using 500 Hz visual servoing, model predictive control and an adaptive observer , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[15]  Min-Seok Kim,et al.  복강경 수술용 도구의 실시간 영상 추적 및 복강경 조종기의 지능형 제어 방법 = Real-time visual servoing for laparoscopic surgery , 2003 .

[16]  Johan Montagnat,et al.  Volumetric medical images segmentation using shape constrained deformable models , 1997, CVRMed.

[17]  Luc Soler,et al.  PACS-based interface for 3D anatomical structure visualization and surgical planning , 2002, SPIE Medical Imaging.

[18]  N. Ayache,et al.  Fully automatic anatomical, pathological, and functional segmentation from CT scans for hepatic surgery , 2001 .

[19]  Ramesh Raskar,et al.  Augmented Reality Visualization for Laparoscopic Surgery , 1998, MICCAI.

[20]  Jacques Marescaux,et al.  Transatlantic robot-assisted telesurgery , 2001, Nature.

[21]  Yoshihiko Nakamura,et al.  Laser-pointing endoscope system for intra-operative 3D geometric registration , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[22]  Luc Soler,et al.  Development of Semi-autonomous Control Modes in Laparoscopic Surgery Using Automatic Visual Servoing , 2001, MICCAI.

[23]  Thomas Lehnert,et al.  Virtual planning of liver resections: image processing, visualization and volumetric evaluation , 1999, Int. J. Medical Informatics.