Virtual Reality Guided Robotic Liver Interventional Therapy
谢小辉, 赵翠翠, 马翠, 孙强, 杜如虚 · 2012
In traditional liver interventional therapy, some surgeons have to work under medical CT or X-ray radiation. In such cases, health of surgeon will be damaged. In order to free them from risk place, robot instead of surgeon in such environment is considered as a good way and surgeon can make a fast decision by 3D image guided system. Based on such rule, an auxiliary arm system is made as an assistance of surgeon in place of therapy. In order to give surgeon intuitive sensation, visual sense of 3D liver model is important. Due to X-ray image or single CT image only has two-dimensional information and often there are blurred pots or distortion, it is not enough to give surgeon true visual sensation. By using three dimensional image reconstruction and virtual reality techniques, better transparency can give to surgeon. Therapy plan is executed before the operation. In order to marry the image acquired in therapy with the image in therapy plan, image registration method between the two images is needed. Image registration in liver interventional therapy is achieved by adopting the mutual information method, which uses the technique of digitally reconstructed radiographs and Mattes’ algorithm. After getting the registered liver image and the tumor position, it can be embedded in the right position of virtual reality system. This 2D-3D image ransformation process gives operator intuitive sensation of the operation objects. Compared to other methods the operation with virtual reality guided techniques can help operator achieve faster speed, better stability and precision.