From medical images to minimally invasive intervention: Computer assistance for robotic surgery.
Identifieur interne : 001231 ( PubMed/Corpus ); précédent : 001230; suivant : 001232From medical images to minimally invasive intervention: Computer assistance for robotic surgery.
Auteurs : Su-Lin Lee ; Mirna Lerotic ; Valentina Vitiello ; Stamatia Giannarou ; Ka-Wai Kwok ; Marco Visentini-Scarzanella ; Guang-Zhong YangSource :
- Computerized medical imaging and graphics : the official journal of the Computerized Medical Imaging Society [ 1879-0771 ] ; 2010.
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Abstract
Minimally invasive surgery has been established as an important way forward in surgery for reducing patient trauma and hospitalization with improved prognosis. The introduction of robotic assistance enhances the manual dexterity and accuracy of instrument manipulation. Further development of the field in using pre- and intra-operative imaging guidance requires the integration of the general anatomy of the patient with clear pathologic indications and geometrical information for preoperative planning and intra-operative manipulation. It also requires effective visualization and the recreation of haptic and tactile sensing with dynamic active constraints to improve consistency and safety of the surgical procedures. This paper describes key technical considerations of tissue deformation tracking, 3D reconstruction, subject-specific modeling, image guidance and augmented reality for robotic assisted minimally invasive surgery. It highlights the importance of adapting preoperative surgical planning according to intra-operative data and illustrates how dynamic information such as tissue deformation can be incorporated into the surgical navigation framework. Some of the recent trends are discussed in terms of instrument design and the usage of dynamic active constraints and human-robot perceptual docking for robotic assisted minimally invasive surgery.
DOI: 10.1016/j.compmedimag.2009.07.007
PubMed: 19699056
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">From medical images to minimally invasive intervention: Computer assistance for robotic surgery.</title><author><name sortKey="Lee, Su Lin" sort="Lee, Su Lin" uniqKey="Lee S" first="Su-Lin" last="Lee">Su-Lin Lee</name><affiliation><nlm:affiliation>Royal Society/Wolfson Foundation Medical Image Computing Laboratory, Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, United Kingdom.</nlm:affiliation></affiliation></author><author><name sortKey="Lerotic, Mirna" sort="Lerotic, Mirna" uniqKey="Lerotic M" first="Mirna" last="Lerotic">Mirna Lerotic</name></author><author><name sortKey="Vitiello, Valentina" sort="Vitiello, Valentina" uniqKey="Vitiello V" first="Valentina" last="Vitiello">Valentina Vitiello</name></author><author><name sortKey="Giannarou, Stamatia" sort="Giannarou, Stamatia" uniqKey="Giannarou S" first="Stamatia" last="Giannarou">Stamatia Giannarou</name></author><author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name></author><author><name sortKey="Visentini Scarzanella, Marco" sort="Visentini Scarzanella, Marco" uniqKey="Visentini Scarzanella M" first="Marco" last="Visentini-Scarzanella">Marco Visentini-Scarzanella</name></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2010">2010</date><idno type="doi">10.1016/j.compmedimag.2009.07.007</idno><idno type="RBID">pubmed:19699056</idno><idno type="pmid">19699056</idno><idno type="wicri:Area/PubMed/Corpus">001231</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">From medical images to minimally invasive intervention: Computer assistance for robotic surgery.</title><author><name sortKey="Lee, Su Lin" sort="Lee, Su Lin" uniqKey="Lee S" first="Su-Lin" last="Lee">Su-Lin Lee</name><affiliation><nlm:affiliation>Royal Society/Wolfson Foundation Medical Image Computing Laboratory, Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, United Kingdom.</nlm:affiliation></affiliation></author><author><name sortKey="Lerotic, Mirna" sort="Lerotic, Mirna" uniqKey="Lerotic M" first="Mirna" last="Lerotic">Mirna Lerotic</name></author><author><name sortKey="Vitiello, Valentina" sort="Vitiello, Valentina" uniqKey="Vitiello V" first="Valentina" last="Vitiello">Valentina Vitiello</name></author><author><name sortKey="Giannarou, Stamatia" sort="Giannarou, Stamatia" uniqKey="Giannarou S" first="Stamatia" last="Giannarou">Stamatia Giannarou</name></author><author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name></author><author><name sortKey="Visentini Scarzanella, Marco" sort="Visentini Scarzanella, Marco" uniqKey="Visentini Scarzanella M" first="Marco" last="Visentini-Scarzanella">Marco Visentini-Scarzanella</name></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name></author></analytic><series><title level="j">Computerized medical imaging and graphics : the official journal of the Computerized Medical Imaging Society</title><idno type="eISSN">1879-0771</idno><imprint><date when="2010" type="published">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Computer Simulation</term><term>Elasticity Imaging Techniques (methods)</term><term>Humans</term><term>Imaging, Three-Dimensional (methods)</term><term>Minimally Invasive Surgical Procedures (methods)</term><term>Models, Biological</term><term>Robotics (methods)</term><term>Surgery, Computer-Assisted (methods)</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Elasticity Imaging Techniques</term><term>Imaging, Three-Dimensional</term><term>Minimally Invasive Surgical Procedures</term><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Computer Simulation</term><term>Humans</term><term>Models, Biological</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Minimally invasive surgery has been established as an important way forward in surgery for reducing patient trauma and hospitalization with improved prognosis. The introduction of robotic assistance enhances the manual dexterity and accuracy of instrument manipulation. Further development of the field in using pre- and intra-operative imaging guidance requires the integration of the general anatomy of the patient with clear pathologic indications and geometrical information for preoperative planning and intra-operative manipulation. It also requires effective visualization and the recreation of haptic and tactile sensing with dynamic active constraints to improve consistency and safety of the surgical procedures. This paper describes key technical considerations of tissue deformation tracking, 3D reconstruction, subject-specific modeling, image guidance and augmented reality for robotic assisted minimally invasive surgery. It highlights the importance of adapting preoperative surgical planning according to intra-operative data and illustrates how dynamic information such as tissue deformation can be incorporated into the surgical navigation framework. Some of the recent trends are discussed in terms of instrument design and the usage of dynamic active constraints and human-robot perceptual docking for robotic assisted minimally invasive surgery.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">19699056</PMID><DateCreated><Year>2010</Year><Month>02</Month><Day>03</Day></DateCreated><DateCompleted><Year>2010</Year><Month>04</Month><Day>30</Day></DateCompleted><DateRevised><Year>2014</Year><Month>11</Month><Day>20</Day></DateRevised><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1879-0771</ISSN><JournalIssue CitedMedium="Internet"><Volume>34</Volume><Issue>1</Issue><PubDate><Year>2010</Year><Month>Jan</Month></PubDate></JournalIssue><Title>Computerized medical imaging and graphics : the official journal of the Computerized Medical Imaging Society</Title><ISOAbbreviation>Comput Med Imaging Graph</ISOAbbreviation></Journal><ArticleTitle>From medical images to minimally invasive intervention: Computer assistance for robotic surgery.</ArticleTitle><Pagination><MedlinePgn>33-45</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1016/j.compmedimag.2009.07.007</ELocationID><Abstract><AbstractText>Minimally invasive surgery has been established as an important way forward in surgery for reducing patient trauma and hospitalization with improved prognosis. The introduction of robotic assistance enhances the manual dexterity and accuracy of instrument manipulation. Further development of the field in using pre- and intra-operative imaging guidance requires the integration of the general anatomy of the patient with clear pathologic indications and geometrical information for preoperative planning and intra-operative manipulation. It also requires effective visualization and the recreation of haptic and tactile sensing with dynamic active constraints to improve consistency and safety of the surgical procedures. This paper describes key technical considerations of tissue deformation tracking, 3D reconstruction, subject-specific modeling, image guidance and augmented reality for robotic assisted minimally invasive surgery. It highlights the importance of adapting preoperative surgical planning according to intra-operative data and illustrates how dynamic information such as tissue deformation can be incorporated into the surgical navigation framework. Some of the recent trends are discussed in terms of instrument design and the usage of dynamic active constraints and human-robot perceptual docking for robotic assisted minimally invasive surgery.</AbstractText><CopyrightInformation>Copyright 2009 Elsevier Ltd. All rights reserved.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Lee</LastName><ForeName>Su-Lin</ForeName><Initials>SL</Initials><AffiliationInfo><Affiliation>Royal Society/Wolfson Foundation Medical Image Computing Laboratory, Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, United Kingdom.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Lerotic</LastName><ForeName>Mirna</ForeName><Initials>M</Initials></Author><Author ValidYN="Y"><LastName>Vitiello</LastName><ForeName>Valentina</ForeName><Initials>V</Initials></Author><Author ValidYN="Y"><LastName>Giannarou</LastName><ForeName>Stamatia</ForeName><Initials>S</Initials></Author><Author ValidYN="Y"><LastName>Kwok</LastName><ForeName>Ka-Wai</ForeName><Initials>KW</Initials></Author><Author ValidYN="Y"><LastName>Visentini-Scarzanella</LastName><ForeName>Marco</ForeName><Initials>M</Initials></Author><Author ValidYN="Y"><LastName>Yang</LastName><ForeName>Guang-Zhong</ForeName><Initials>GZ</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2009</Year><Month>08</Month><Day>20</Day></ArticleDate></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>Comput Med Imaging Graph</MedlineTA><NlmUniqueID>8806104</NlmUniqueID><ISSNLinking>0895-6111</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D003198">Computer Simulation</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D054459">Elasticity Imaging Techniques</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D021621">Imaging, Three-Dimensional</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019060">Minimally Invasive Surgical Procedures</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D008954">Models, Biological</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014584">User-Computer Interface</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2009</Year><Month>2</Month><Day>13</Day></PubMedPubDate><PubMedPubDate PubStatus="revised"><Year>2009</Year><Month>6</Month><Day>26</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2009</Year><Month>7</Month><Day>17</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2009</Year><Month>8</Month><Day>20</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2009</Year><Month>8</Month><Day>25</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2009</Year><Month>8</Month><Day>25</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2010</Year><Month>5</Month><Day>1</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pii">S0895-6111(09)00089-5</ArticleId><ArticleId IdType="doi">10.1016/j.compmedimag.2009.07.007</ArticleId><ArticleId IdType="pubmed">19699056</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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