A real-time interactive augmented reality depth estimation technique for surgical robotics

M. Kalia, N. Navab, T. Salcudean

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

28 Zitate (Scopus)

Abstract

Augmented reality (AR) is a promising technology where the surgeon can see the medical abnormality in the context of the patient. It makes the anatomy of interest visible to the surgeon which otherwise is not visible. It can result in better surgical precision and therefore, potentially better surgical outcomes and faster recovery times. Despite these benefits, the current AR systems suffer from two major challenges; first, incorrect depth perception and, second, the lack of suitable evaluation systems. Therefore, in the current paper we addressed both of these problems. We proposed a color depth encoding (CDE) technique to estimate the distance between the tumor and the tissue surface using a surgical instrument. We mapped the distance between the tumor and the tissue surface to the blue-red color spectrum. For evaluation and interaction with our AR technique, we propose to use a virtual surgical instrument method using the CAD model of the instrument. The users were asked to reach the judged distance in the surgical field using the virtual tool. Realistic tool movement was simulated by collecting the forward kinematics joint encoder data. The results showed significant improvement in depth estimation, time for task completion and confidence, using our CDE technique with and without stereo versus other two cases, that are, Stereo-No CDE and No Stereo-No CDE.

OriginalspracheEnglisch
Titel2019 International Conference on Robotics and Automation, ICRA 2019
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten8291-8297
Seitenumfang7
ISBN (elektronisch)9781538660263
DOIs
PublikationsstatusVeröffentlicht - Mai 2019
Veranstaltung2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Kanada
Dauer: 20 Mai 201924 Mai 2019

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
Band2019-May
ISSN (Print)1050-4729

Konferenz

Konferenz2019 International Conference on Robotics and Automation, ICRA 2019
Land/GebietKanada
OrtMontreal
Zeitraum20/05/1924/05/19

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