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1.
《微型机与应用》2018,(1):76-80
计算机辅助导航技术在微创手术中扮演着越来越重要角色。针对微创手术的病灶复杂解剖位置以及内窥镜视野的局限性,设计开发了一套基于增强现实的计算机辅助微创手术导航系统。系统首先实现将术前影像重建的3D模型与患者术中视野中的真实器官组织配准重合,然后基于立体内窥镜的视觉跟踪技术来实时获取内窥镜的运动姿态,根据多自由度的变换矩阵使3D模型与真实目标实时重合,以此来定位手术内窥镜的位置,为手术推进提供增强现实的"地图"导航,提高手术操作的精准度。通过仿真实验验证,该系统具有良好的视觉导航效果。  相似文献   

2.
For telerobotic systems the ultimate goal is transparency, meaning the human operator cannot distinguish between operating in a local or a distant environment. To achieve this, the human operator is coupled with the telerobotic system with all necessary senses: visual, auditory and haptic modality. For the haptic modality this implies research in the following fields: robotic hardware, both handcontroller and teleoperators, and control aspects with time delay. The latter include both supervisory and bilateral control. In this paper the current and future aspects of haptics in telerobotics are shown focusing on the control research. With the evolving technology in these research areas telerobotic systems can now be found in a variety of different application fields, e.g. microassembly, surgery or space.  相似文献   

3.
Simulating intrinsic deformation behaviors of guidewire and catheters for interventional radiology (IR) procedures, such as minimally invasive vascular interventions is a challenging task. Especially real-time simulations for interactive training systems require not only the accuracy of guidewire manipulations, but also the efficiency of computations. The insertion of guidewires and catheters is an essential task for IR procedures and the success of these procedures depends on the accurate navigation of guidewires in complex 3D blood vessel structures to a clinical target, whilst avoiding complications or mistakes of damaging vital tissues and blood vessel walls. In this paper, a novel elastic model for modeling guidewires is presented and evaluated. Our interactive guidewire simulator models the medical instrument as thin flexible elastic rods with arbitrary cross sections, treating the centerline as dynamic and the deformation as quasi-static. Constraints are used to enforce inextensibility of guidewires, providing an efficient computation for bending and twisting modes of the physically-based simulation model. We demonstrate the effectiveness of the new model with a number of simulation examples.  相似文献   

4.
In minimally invasive surgery (MIS), the surgeon works with long instruments through small incisions. These small incisions are the main advantage of MIS, leading to several benefits for the patient when compared with open surgery. These benefits include reduced pain and trauma, reduced loss of blood, reduced risk of wound infections, shorter hospital stays, shorter rehabilitation time, and cosmetic advantages. In contrast to open surgery, direct access to the operation field is no longer possible for the surgeon. According to [1], the loss of direct access leads to several drawbacks for the surgeon: 1) Tissue cannot be palpated any more. 2) Because of the relatively high friction in the trocar, the contact forces between instrument and tissue can hardly be sensed. [The trocar is a surgical device, which makes it possible to create incisions in a visceral cavity (i.e. thorax, abdominal cavity) and keeps it open with the aid of a tube.] This is especially the case when the trocar is placed in the narrow intercostal space (i.e., space between the ribs). 3) As the instruments have to be moved around an invariant fulcrum point, intuitive direct hand-eye coordination is lost, and because of the kinematic restrictions, only 4 degrees of freedom (DoF) remain inside the body of the patient. Therefore, the surgeon cannot reach any point in the work space at an arbitrary orientation. This is a main drawback of MIS, which makes complex tasks like knot tying very time consuming and require intensive training [2].  相似文献   

5.
The recent advantage of the power of graphic workstations has made it possible to handle 3D human structures in an interactive way. Real-time imaging of medical 3D or 4D images can be used not only for diagnosis, but also for various novel medical treatments. By elaborating on the history of the establishment of our laboratory, which focuses on medical virtual reality, we describe our experience of developing surgery simulation and surgery navigation systems according to our research results. In the case of surgical simulation, we mention two kinds of virtual surgery simulators that produce the haptic sensation of surgical maneuvers in the user’s fingers. Regarding surgical navigation systems, we explain the necessity of the augmented reality function for the encouragement of the ability of robotic surgery and its trial for clinical case.  相似文献   

6.
During the last years, there has been an increase in research in the field of medical robots. This trend motivated the development of a new robotics field called “robotic-assisted minimally invasive surgery”. The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M. The robot consists of two subsystems: a surgical robotic arm, PARASURG 5M with five motors, and an active robotized surgical instrument PARASIM with four motors. The methodology for the robot kinematics is presented and the algorithm for robot workspace generation is described. PARASURG-9M inverse dynamic simulation is performed using MSC Adams and finally some numerical and simulation results of the developed experimental model with its system control are also described.  相似文献   

7.
新型智能材料电/磁流变液在电/磁场作用下,能够在几毫秒时间内由牛顿流体状态变为半固体状态.在简单介绍电/磁流变效应产生机理、特点的基础上,阐述了国内外几种典型的基于电/磁流变液体的力/触觉反馈设备的原理、结构和应用,比较了电/磁流变液的优缺点,总结了基于电/磁流变液设备的优势和存在的问题,展望了应用前景.  相似文献   

8.
A fast design variation technique for mechanical systems is presented. It is used to interactively optimize mechanical characteristics while self-assembling or satisfying large systems of mechanical constraints. The high speed method is central to providing inverse dynamics force feedback in haptics and control applications. Performance advantages with the use of augmented coordinates for inverse dynamics of closed loop topologies are also noted. The interaction framework allows manipulation of complex assemblies while maintaining kinematically admissible configurations though linkage and joint limit constraints. Furthermore, design variables such as link length can be treated as free variables and optimized to meet design criteria such as assembly dexterity. Assemblies with flexible bodies fit naturally within this framework. Thus, the contribution of this paper is the advancement of techniques in augmented coordinates for the kinematic and force feedback interaction with virtual mechanical assembly design optimization at force control rates.  相似文献   

9.
Interactive computer graphics visualization allows simulation of craniofacial procedures before surgical intervention. Two simulation modes are currently available: physical replicas created with CT data applied to numerically controlled milling machines or stereolithography machines; and 3D graphical images created from tomographic data. The validity of graphically rendered CT or MR scanned images is carefully measured by simulating craniofacial surgical procedures and testing each step in the process  相似文献   

10.
Over the past two decades, the bulk of gastrointestinal (GI) endoscopic procedures has shifted away from diagnostic and therapeutic interventions for symptomatic disease toward cancer prevention in asymptomatic patients. This shift has resulted largely from a decrease in the incidence of peptic ulcer disease in the era of antisecretory medications coupled with emerging evidence for the efficacy of endoscopic detection and eradication of dysplasia, a histopathological biomarker widely accepted as a precursor to cancer. This shift has been accompanied by a drive toward minimally invasive, in situ optical diagnostic technologies that help to assess the mucosa for cellular changes that relate to dysplasia. Two competing but complementary approaches have been pursued. The first approach is based on broad-view targeting of “areas of interest” or “red flags”. These broad-view technologies include standard white light endoscopy (WLE), high-definition endoscopy (HD), and “electronic” chromoendoscopy (narrow-band-type imaging). The second approach is based on multiple small area or point-source (meso/micro) measurements, which can be either machine (spectroscopy) or human-interpreted (endomicroscopy, magnification endoscopy), much as histopatholgy slides are. In this paper we present our experience with the development and testing of a set of familiar but “smarter” standard tissue-sampling tools that can be routinely employed during screening/surveillance endoscopy. These tools have been designed to incorporate fiberoptic probes that can mediate spectroscopy or endomicroscopy. We demonstrate the value of such tools by assessing their preliminary performance from several ongoing clinical studies. Our results have shown promise for a new generation of integrated optical tools for a variety of screening/surveillance applications during GI endoscopy. Integrated devices should prove invaluable for dysplasia surveillance strategies that currently result in large numbers of benign biopsies, which are of little clinical consequence, including screening for colorectal polyps and surveillance of “flat” dysplasia such as Barrett’s esophagus and chronic colitis due to inflammatory bowel diseases.  相似文献   

11.
The geometric and kinematic models of a new surgical hybrid robot used for camera and active instruments positioning are presented in this paper. The robot workspace is computed and illustrated following the singularities analysis. The robot structure consists of two modules: the PARAMIS robot, and the new serial positioning module. The serial positioning module is used to obtain a mechanically fixed remote center of motion (RCM), enabling the structure to manipulate also active instruments. The new robot provides the necessary motion control to respect the particularities and restrictions of surgical applications. The detailed workspace analysis demonstrates the importance of the relative positioning between the robot and the patient. A constructive solution of the new serial module, the numerical results and conclusions from the performed simulations are described.  相似文献   

12.
为了提高竞技体育训练的实时监测和动态评估能力,采用激光跟踪模拟训练方法进行竞技体育实时动态分析和训练系统设计,提出一种基于运动行为激光成像动态特征采集的竞技体育实时动态分析模拟系统系统设计方法。首先构建训练系统的总体结构模型,采用激光实时成像扫描仪进行体育训练三维图像采集,结合图像处理算法进行人体形态特征分析和动作矫正。然后进行系统的硬件设计,采用前级放大电路进行激光成像输出信号放大,构建CAN总线驱动电路进行激光模拟训练系统控制器与物理总线之间的接口设计。最后在嵌入式ARM中进行系统嵌入式开发设计,系统调试结果表明,采用该系统进行竞技体育人体实时动态分析,能准确反馈人体运动行为特征信息,结合专家系统进行动作矫正,指导体育训练,提高训练效果。  相似文献   

13.
14.
Accurate detection of mediated haptic information in minimally invasive surgery (MIS) is critical for applying appropriate force magnitudes onto soft tissue with the aim of minimising tissue trauma. Force perception in MIS is a dynamic process, with surgeons’ administration of force into tissue revealing information about the remote surgical site which further informs the surgeons’ haptic interactions. The relationship between applied force and material deformation rate provides biomechanical information specifying the deformation distance remaining until a tissue will fail: which is termed distance-to-break (DTB). The current study demonstrates that observers can detect DTB while deforming simulated tissues and stop before reaching the tissues’ failure points. The design of training simulators, control devices and automated robotic systems for applications outside of MIS is discussed.

Practitioner Summary: In MIS, haptic information is critical for applying appropriate forces onto soft tissue to minimise tissue trauma. Observers used force information to detect how far they could deform a virtual tissue before it would break. The design of training simulators, control devices and automated robotic systems is discussed.  相似文献   


15.
开展突发事件的应急演练教学培训,可使应急管理培训工作更具有针对性和实用性。对应急培训教学模拟演练系统进行了需求分析;对应急培训教学模拟演练系统的结构和应急突发事件的处置流程及体系结构进行了研究和设计;给出了提高培训学员对突发事件的处置能力的基本思路和方法。  相似文献   

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18.
Co-Surgeon is an Internet-based tele-simulation surgery system. The system combines 3D surgery simulation with CSCW technology to enable surgeons to collaboratively simulate alternative treatment plans over the Internet. It enables multiple users in remote locations to manipulate 3D anatomical models and to simulate surgical operations while sharing a view of the simulation. In addition, the system can store the simulated procedure so that offline users can later replay it and participate asynchronously. Co-Surgeon can also manage the procedures, facilitating the use of the simulation capability and widening the system's application in surgical education and reference. This article describes Co-Surgeon's design and implementation, and reports results from laboratory tests of a prototype system  相似文献   

19.
The main objective of the ISTS project is to develop a simulation-based training system that conducts content training without the human instructor being continuously involved. A prototype for Air Traffic Control (ATC) has been developed by isolating the domain dependent expertise from the generic system. The prototype is modularized to be easily modified, expanded, or adapted to other domains. In order to evaluate a student's performance, a simulation-based training system must be able to accurately interpret student actions. This paper will present a generic paradigm for managing and interpreting the effects of student inputs for an Intelligent Simulation Training System (ISTS).

The Control module is the manager of the ISTS. It is responsible for coordinating the communication between the simulation and the rest of the system. It is also responsible for deciding when and which modules to activate based on a set of prioritized facts. The Interpreter module determines the effects of the student input to the simulation by comparing snapshots of the simulation before and after a student input is executed. It also checks the simulation for late events.  相似文献   


20.
In our current research we examine the application of visuo-haptic augmented reality setups in medical training. To this end, highly accurate calibration, system stability, and low latency are indispensable prerequisites. These are necessary to maintain user immersion and avoid breaks in presence which potentially diminish the training outcome. In this paper we describe the developed calibration methods for visuo-haptic integration, the hybrid tracking technique for stable alignment of the augmentation, and the distributed framework ensuring low latency and component synchronization. Finally, we outline an early prototype system based on the multimodal augmented reality framework. The latter allows colocated visuo-haptic interaction with real and virtual scene components in a simplified open surgery setting.  相似文献   

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