Robotic Camera Technique
Moreover, this manual registration requires a spatial localization of an instrument will perform a contouring / spatial identification of the organ of interest. This corresponds in our technique to the initial phase of the registration.
Simulations of laparoscopy is significant choice Laparoscopic Needle Driver.
Position of the Camera
Either the position of the organ or the position of the patient must be determined in space and the position of the camera or one of the instruments is also determined in space. In fact, most of the other techniques require manual registration if the organ of interest moves, but also if the camera has taken out and reinserted into the operating field or even if an instrument temporarily obscures the field of the camera. In other words, a manual adjustment will be necessary several times during an intervention consumes time and does not facilitate the gesture.
This complicates matters even more if we want to locate an instrument in robotic surgery. Several systems have studied. A system that uses data known to the robot only, an optical marker system, an optical system associated for the terminal part with the robot's tracking or a system using a magnetic marker on the terminal part of the instrument.
Use of Optical Sensors
With the first system, the margin of error is 10 to 22mm is not acceptable if we consider that, the objective of the resection margin for a renal tumor for example is 5mm. A method combining intrinsic robot and extrinsic data achieves much more convincing resolutions of 10 to less than 2 mm. The major problem with optical sensors is that there must be no interference between the cameras films the optical mark and the optical mark itself, which is difficult in an operating theater.
A method combining intrinsic robot and extrinsic data achieves much more convincing resolutions of 10 to less than 2 mm. The major problem with optical sensors is that there must be no interference between the camera, which films the optical mark, and the optical mark itself, which is difficult in an operating theater.
Injecting Transponder
None of these systems can integrate the displacement of the organ of interest. To integrate this displacement, several authors have proposed to integrate magnetic landmarks, such as those already used for radiotherapy in prostate cancer figure. It is the same way Imaging-guided biopsies performed a transponder injected into the organ of interest.
This technique has described for partial nephrectomy. Unfortunately, the presence of laparoscopic instruments reduces the reliability of these landmarks. Moreover, all operating theaters contain elements that can have a ferromagnetic interaction with this device, which further reduces its value. Just as another team has described the injection of fluorescent tracer. This seems relatively invasive to us and imposes an additional procedure on the patient not devoid of immediate risks even if this does not seem to lead to tumor dissemination. Another team has proposed the intraoperative placement of a needle, the head of which cover with a ball of a given color. This technique also appears to be invasive.
It therefore seems necessary to develop techniques, which do not use physical markers. Techniques using surface recognition do not involve the systematic use of cues or tracers visual or magnetic. In fact during the use of a monocular optic, the most widely used surface technique is the SLAM technique. SLAM involves building a 3D representation of the environment and determines a rigid transformation to reposition this map in the optical image. This system works well in a relatively fixed and relatively rigid environment: typically a room with static objects, a street with many fixed elements.
SLAM Techniques
Our system based on an innovative approach that uses a very broad mapping of the surface textures of the uterus. The system uses this precision in texture analysis precisely identifies the changes in the appearance of the uterine surface. This technique brings major and undeniable changes compared to SLAM techniques conventionally used by other teams.
The use of the SLAM technique was already a major evolution compared to the other techniques used. Another feature of our technique is that it does not use a predictive model. In the SLAM model, real-time registration is done in part thanks to the data from the image registration just before, in our model, the registration is carried out de novo on each image because it is based on the recognition of the textures of the organ of interest.
Conclusion
This requires that in the video footage we take of the organ of interest include images taken from different points of view and from different positions of the organ. The differences and variations in texture between Radical prostatectomy Visual cues.
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