Guidage par Réalité Augmentée : Application à la Chirurgie Cardiaque Robotisée

Fabien Mourgues 1
1 CHIR - Surgery, Informatics and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Minimally invasive surgery limits the inflicted trauma on the patient through the use of small incisions. Moreover, taking advantage of robotic assistance considerably enhances the precision of the gestures and the comfort of the surgeon. Nevertheless, many difficulties are still being encountered, such as the identification of the target arteries in the coronary bypass surgery. In this work, we propose to guide the surgeon by superimposing a model of the patient's arteries on the intraoperative endoscopic images. Our approach is defined from the analysis of the intervention and the surgical gesture. First a static model of the coronary tree is obtained from standard imaging systems. The registration with the endoscopic images is then initialized by calibrating the stereoscopic actuated endoscope and registering the external shape of the patient in the operating room. Finaly, this result is refined to take into account the intraoperative shift of the heart and the successive errors. This is done using an original multi-model robust algorithm, based on translating the indications given by the surgeon into measures, which leads to the precision necessary to the guidance. This innovative tool of computer assisted surgery is integrated within a common architecture tested with the Da Vinci robot during many in-vivo experiments.
Complete list of metadatas

Cited literature [198 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-00346341
Contributor : Frédéric Devernay <>
Submitted on : Thursday, December 11, 2008 - 2:24:45 PM
Last modification on : Saturday, January 27, 2018 - 1:31:00 AM
Long-term archiving on : Tuesday, June 8, 2010 - 4:24:06 PM

Identifiers

  • HAL Id : tel-00346341, version 1

Collections

Citation

Fabien Mourgues. Guidage par Réalité Augmentée : Application à la Chirurgie Cardiaque Robotisée. Automatique / Robotique. Université Nice Sophia Antipolis, 2003. Français. ⟨tel-00346341⟩

Share

Metrics

Record views

982

Files downloads

1754