JRM Vol.34 No.6 pp. 1253-1267
doi: 10.20965/jrm.2022.p1253


Basic Experiments Toward Mixed Reality Dynamic Navigation for Laparoscopic Surgery

Xiaoshuai Chen*1, Daisuke Sakai*1, Hiroaki Fukuoka*1, Ryosuke Shirai*2, Koki Ebina*2, Sayaka Shibuya*2, Kazuya Sase*3, Teppei Tsujita*4, Takashige Abe*5, Kazuhiko Oka*1, and Atsushi Konno*2

*1Graduate School of Science and Technology, Hirosaki University
3 Bunkyo-cho, Hirosaki, Aomori 036-8561, Japan

*2Graduate School of Information Science and Technology, Hokkaido University
Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan

*3Faculty of Engineering, Tohoku Gakuin University
1-13-1 Chuo, Tagajo, Miyagi 980-8511, Japan

*4Department of Mechanical Engineering, National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

*5Graduate School of Medicine, Hokkaido University
Kita 15, Nishi 7, Kita-ku, Sapporo, Hokkaido 060-8638, Japan

May 13, 2022
October 10, 2022
December 20, 2022
mixed reality (MR), laparoscopic surgery, projection mapping, computer-assisted surgery, soft object deformation

Laparoscopic surgery is a minimally invasive procedure that is performed by viewing endoscopic camera images. However, the limited field of view of endoscopic cameras makes laparoscopic surgery difficult. To provide more visual information during laparoscopic surgeries, augmented reality (AR) surgical navigation systems have been developed to visualize the positional relationship between the surgical field and organs based on preoperative medical images of a patient. However, since earlier studies used preoperative medical images, the navigation became inaccurate as the surgery progressed because the organs were displaced and deformed during surgery. To solve this problem, we propose a mixed reality (MR) surgery navigation system in which surgical instruments are tracked by a motion capture (Mocap) system; we also evaluated the contact between the instruments and organs and simulated and visualized the deformation of the organ caused by the contact. This paper describes a method for the numerical calculation of the deformation of a soft body. Then, the basic technology of MR and projection mapping is presented for MR surgical navigation. The accuracy of the simulated and visualized deformations is evaluated through basic experiments using a soft rectangular cuboid object.

Concept of the proposed MR navigation system

Concept of the proposed MR navigation system

Cite this article as:
X. Chen, D. Sakai, H. Fukuoka, R. Shirai, K. Ebina, S. Shibuya, K. Sase, T. Tsujita, T. Abe, K. Oka, and A. Konno, “Basic Experiments Toward Mixed Reality Dynamic Navigation for Laparoscopic Surgery,” J. Robot. Mechatron., Vol.34 No.6, pp. 1253-1267, 2022.
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Last updated on May. 19, 2024