2017/11/23 by Nicolás Zevallos, Zevallos, Nicolas, Rangaprasad Arun Srivatsan +15
Computer Science · Engineering · Medicine · #Augmented Reality Applications #FOS: Computer and information sciences #Robotics (cs.RO) #Soft Robotics and Applications #Surgical Simulation and Training
paper · pdf · doi:10.48550/arxiv.1711.08828
openalex publication_date 2017/11/23 · openalex created_date 2022/09/28 · openalex updated_date 2026/07/28
In this paper we develop a surgical system using the da Vinci research kit\n(dVRK) that is capable of autonomously searching for tumors and dynamically\ndisplaying the tumor location using augmented reality. Such a system has the\npotential to quickly reveal the location and shape of tumors and visually\noverlay that information to reduce the cognitive overload of the surgeon. We\nbelieve that our approach is one of the first to incorporate state-of-the-art\nmethods in registration, force sensing and tumor localization into a unified\nsurgical system. First, the preoperative model is registered to the\nintra-operative scene using a Bingham distribution-based filtering approach. An\nactive level set estimation is then used to find the location and the shape of\nthe tumors. We use a recently developed miniature force sensor to perform the\npalpation. The estimated stiffness map is then dynamically overlaid onto the\nregistered preoperative model of the organ. We demonstrate the efficacy of our\nsystem by performing experiments on phantom prostate models with embedded stiff\ninclusions.\n