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JRM Vol.36 No.3 pp. 694-703
doi: 10.20965/jrm.2024.p0694
(2024)

Paper:

Use of Mixed Reality in Attachment of Surgical Site Measurement Robot to Surgical Bed

Miho Asano*1, Yoshito Yamada*2, Takahiro Kunii*3, Masanao Koeda*4 ORCID Icon, and Hiroshi Noborio*2

*1Department of Life Design, Osaka International College
6-21-57 Tohdacho, Moriguchi, Osaka 570-8555, Japan

*2Department of Computer Science, Osaka Electro-Communication University
1130-70 Kiyotaki, Shijonawate, Osaka 575-0063, Japan

*3Kashina System Co., Ltd.
116-22 Hiratacho, Hikone, Shiga 522-0041, Japan

*4Department of Human Information Engineering, Okayama Prefectural University
111 Kuboki, Soja, Okayama 719-1197, Japan

Received:
August 30, 2023
Accepted:
February 19, 2024
Published:
June 20, 2024
Keywords:
depth–depth matching algorithm, depth image camera, surgical navigation, digital imaging and communication in medicine, mixed reality
Abstract

Recently, we have observed that the digital potential function defined by the difference between the real and virtual organ depth images is globally stable where the real and virtual livers coincide. This globality is then used to overlay the real and virtual livers. In this study, we consider the installation of a robotic mechanical system for measuring the depth images of real organs in the surgical bed. In general, virtual organs measured by CT or MRI show the position and posture of blood vessel groups and malignant tumors, and if these can be presented to the physician during surgery, he or she can operate while confirming their positions in real time. Although this robotic mechanical system is designed such that the camera can be raised or lowered as necessary to avoid interfering with the movement of the doctor, assistant, or nurse during surgery, it may still shift owing to contact with the hands or head of the doctor or nurse. In this study, an experiment was conducted in which a surgical measurement robotic mechanical system was constructed in a VR environment, and an actual robot was installed using this as a model. In the experiment, a video image of a virtual object was superimposed on that of a real object to confirm whether the surgical robotic mechanical system was able to accurately measure the surgical site.

A robot simply attached to the surgical bed using a jig

A robot simply attached to the surgical bed using a jig

Cite this article as:
M. Asano, Y. Yamada, T. Kunii, M. Koeda, and H. Noborio, “Use of Mixed Reality in Attachment of Surgical Site Measurement Robot to Surgical Bed,” J. Robot. Mechatron., Vol.36 No.3, pp. 694-703, 2024.
Data files:
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Last updated on Jul. 12, 2024