Augmented‐reality‐based surgical navigation for endoscope retrograde cholangiopancreatography: A phantom study
Background Endoscope retrograde cholangiopancreatography is a standard surgical treatment for gallbladder and pancreatic diseases. However, surgeons is at high risk and require sufficient surgical experience and skills. Methods (1) The simultaneous localisation and mapping technique to reconstruct t...
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| Veröffentlicht in: | The international journal of medical robotics + computer assisted surgery 2024-06, Vol.20 (3), p.e2649-n/a |
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| container_title | The international journal of medical robotics + computer assisted surgery |
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| creator | Lin, Zhipeng Yang, Zhuoyue Li, Ranyang Sun, Shangyu Yan, Bin Yang, Yongming Liu, Hao Pan, Junjun |
| description | Background
Endoscope retrograde cholangiopancreatography is a standard surgical treatment for gallbladder and pancreatic diseases. However, surgeons is at high risk and require sufficient surgical experience and skills.
Methods
(1) The simultaneous localisation and mapping technique to reconstruct the surgical environment. (2) The preoperative 3D model is transformed into the intraoperative video environment to implement the multi‐modal fusion. (3) A framework for virtual‐to‐real projection based on hand‐eye alignment. For the purpose of projecting the 3D model onto the imaging plane of the camera, it uses position data from electromagnetic sensors.
Results
Our AR‐assisted navigation system can accurately guide physicians, which means a distance of registration error to be restricted to under 5 mm and a projection error of 5.76 ± 2.13, and the intubation procedure is done at 30 frames per second.
Conclusions
Coupled with clinical validation and user studies, both the quantitative and qualitative results indicate that our navigation system has the potential to be highly useful in clinical practice. |
| doi_str_mv | 10.1002/rcs.2649 |
| format | Article |
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Endoscope retrograde cholangiopancreatography is a standard surgical treatment for gallbladder and pancreatic diseases. However, surgeons is at high risk and require sufficient surgical experience and skills.
Methods
(1) The simultaneous localisation and mapping technique to reconstruct the surgical environment. (2) The preoperative 3D model is transformed into the intraoperative video environment to implement the multi‐modal fusion. (3) A framework for virtual‐to‐real projection based on hand‐eye alignment. For the purpose of projecting the 3D model onto the imaging plane of the camera, it uses position data from electromagnetic sensors.
Results
Our AR‐assisted navigation system can accurately guide physicians, which means a distance of registration error to be restricted to under 5 mm and a projection error of 5.76 ± 2.13, and the intubation procedure is done at 30 frames per second.
Conclusions
Coupled with clinical validation and user studies, both the quantitative and qualitative results indicate that our navigation system has the potential to be highly useful in clinical practice.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.2649</identifier><identifier>PMID: 38847242</identifier><language>eng</language><publisher>England: Wiley Subscription Services, Inc</publisher><subject>Augmented Reality ; Cholangiopancreatography, Endoscopic Retrograde - methods ; Endoscopes ; Frames per second ; Gallbladder ; Humans ; Imaging, Three-Dimensional - methods ; Navigation systems ; Phantoms, Imaging ; registration ; Reproducibility of Results ; Robotic Surgical Procedures - instrumentation ; Robotic Surgical Procedures - methods ; simultaneous localisation and mapping ; Simultaneous localization and mapping ; Surgery, Computer-Assisted - instrumentation ; Surgery, Computer-Assisted - methods ; surgical navigation ; Surgical Navigation Systems ; Three dimensional models</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2024-06, Vol.20 (3), p.e2649-n/a</ispartof><rights>2024 John Wiley & Sons Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c3109-644d335d7e6be41ba02424c4f1ca892de3b8ae0046e26283c5dbc99fec3b06fa3</cites><orcidid>0000-0002-7991-9540 ; 0000-0002-8278-1263</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.2649$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.2649$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,776,780,1411,27903,27904,45553,45554</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/38847242$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Lin, Zhipeng</creatorcontrib><creatorcontrib>Yang, Zhuoyue</creatorcontrib><creatorcontrib>Li, Ranyang</creatorcontrib><creatorcontrib>Sun, Shangyu</creatorcontrib><creatorcontrib>Yan, Bin</creatorcontrib><creatorcontrib>Yang, Yongming</creatorcontrib><creatorcontrib>Liu, Hao</creatorcontrib><creatorcontrib>Pan, Junjun</creatorcontrib><title>Augmented‐reality‐based surgical navigation for endoscope retrograde cholangiopancreatography: A phantom study</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int J Med Robot</addtitle><description>Background
Endoscope retrograde cholangiopancreatography is a standard surgical treatment for gallbladder and pancreatic diseases. However, surgeons is at high risk and require sufficient surgical experience and skills.
Methods
(1) The simultaneous localisation and mapping technique to reconstruct the surgical environment. (2) The preoperative 3D model is transformed into the intraoperative video environment to implement the multi‐modal fusion. (3) A framework for virtual‐to‐real projection based on hand‐eye alignment. For the purpose of projecting the 3D model onto the imaging plane of the camera, it uses position data from electromagnetic sensors.
Results
Our AR‐assisted navigation system can accurately guide physicians, which means a distance of registration error to be restricted to under 5 mm and a projection error of 5.76 ± 2.13, and the intubation procedure is done at 30 frames per second.
Conclusions
Coupled with clinical validation and user studies, both the quantitative and qualitative results indicate that our navigation system has the potential to be highly useful in clinical practice.</description><subject>Augmented Reality</subject><subject>Cholangiopancreatography, Endoscopic Retrograde - methods</subject><subject>Endoscopes</subject><subject>Frames per second</subject><subject>Gallbladder</subject><subject>Humans</subject><subject>Imaging, Three-Dimensional - methods</subject><subject>Navigation systems</subject><subject>Phantoms, Imaging</subject><subject>registration</subject><subject>Reproducibility of Results</subject><subject>Robotic Surgical Procedures - instrumentation</subject><subject>Robotic Surgical Procedures - methods</subject><subject>simultaneous localisation and mapping</subject><subject>Simultaneous localization and mapping</subject><subject>Surgery, Computer-Assisted - instrumentation</subject><subject>Surgery, Computer-Assisted - methods</subject><subject>surgical navigation</subject><subject>Surgical Navigation Systems</subject><subject>Three dimensional models</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><sourceid>EIF</sourceid><recordid>eNp1kd1q2zAYhkVZadK0sCsYgp30xKn-LNs7C6HtBoVCt0LPjCx9dhxsy5PsDZ_1EnqNvZIpa5rBoCDQh3h4eD-9CH2kZEkJYZdO-yWTIjtCcyqSNIoz-fjhMMd0hk693xIiYiHFCZrxNBUJE2yO3GqsWugGMC9Pzw5UUw9TmArlwWA_uqrWqsGd-lVXaqhth0vrMHTGem17wA4GZyunDGC9sY3qqtr2qtPBNOze-830Ba9wv1HdYFvsh9FMZ-i4VI2H8_29QA_XVz_WX6Pbu5tv69VtpDklWSSFMJzHJgFZgKCFIiGw0KKkWqUZM8CLVEHYSQKTLOU6NoXOshI0L4gsFV-gi1dv7-zPEfyQt7XX0ISUYEefcyLjLMl4OAv0-T90a0fXhXSBShijkpD0n1A7672DMu9d3So35ZTkux7y0EO-6yGgn_bCsWjBHMC3jw9A9Ar8rhuY3hXl9-vvf4V_AKyCleA</recordid><startdate>202406</startdate><enddate>202406</enddate><creator>Lin, Zhipeng</creator><creator>Yang, Zhuoyue</creator><creator>Li, Ranyang</creator><creator>Sun, Shangyu</creator><creator>Yan, Bin</creator><creator>Yang, Yongming</creator><creator>Liu, Hao</creator><creator>Pan, Junjun</creator><general>Wiley Subscription Services, Inc</general><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>K9.</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0002-7991-9540</orcidid><orcidid>https://orcid.org/0000-0002-8278-1263</orcidid></search><sort><creationdate>202406</creationdate><title>Augmented‐reality‐based surgical navigation for endoscope retrograde cholangiopancreatography: A phantom study</title><author>Lin, Zhipeng ; Yang, Zhuoyue ; Li, Ranyang ; Sun, Shangyu ; Yan, Bin ; Yang, Yongming ; Liu, Hao ; Pan, Junjun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3109-644d335d7e6be41ba02424c4f1ca892de3b8ae0046e26283c5dbc99fec3b06fa3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Augmented Reality</topic><topic>Cholangiopancreatography, Endoscopic Retrograde - methods</topic><topic>Endoscopes</topic><topic>Frames per second</topic><topic>Gallbladder</topic><topic>Humans</topic><topic>Imaging, Three-Dimensional - methods</topic><topic>Navigation systems</topic><topic>Phantoms, Imaging</topic><topic>registration</topic><topic>Reproducibility of Results</topic><topic>Robotic Surgical Procedures - instrumentation</topic><topic>Robotic Surgical Procedures - methods</topic><topic>simultaneous localisation and mapping</topic><topic>Simultaneous localization and mapping</topic><topic>Surgery, Computer-Assisted - instrumentation</topic><topic>Surgery, Computer-Assisted - methods</topic><topic>surgical navigation</topic><topic>Surgical Navigation Systems</topic><topic>Three dimensional models</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lin, Zhipeng</creatorcontrib><creatorcontrib>Yang, Zhuoyue</creatorcontrib><creatorcontrib>Li, Ranyang</creatorcontrib><creatorcontrib>Sun, Shangyu</creatorcontrib><creatorcontrib>Yan, Bin</creatorcontrib><creatorcontrib>Yang, Yongming</creatorcontrib><creatorcontrib>Liu, Hao</creatorcontrib><creatorcontrib>Pan, Junjun</creatorcontrib><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Health & Medical Complete (Alumni)</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Lin, Zhipeng</au><au>Yang, Zhuoyue</au><au>Li, Ranyang</au><au>Sun, Shangyu</au><au>Yan, Bin</au><au>Yang, Yongming</au><au>Liu, Hao</au><au>Pan, Junjun</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Augmented‐reality‐based surgical navigation for endoscope retrograde cholangiopancreatography: A phantom study</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int J Med Robot</addtitle><date>2024-06</date><risdate>2024</risdate><volume>20</volume><issue>3</issue><spage>e2649</spage><epage>n/a</epage><pages>e2649-n/a</pages><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>Background
Endoscope retrograde cholangiopancreatography is a standard surgical treatment for gallbladder and pancreatic diseases. However, surgeons is at high risk and require sufficient surgical experience and skills.
Methods
(1) The simultaneous localisation and mapping technique to reconstruct the surgical environment. (2) The preoperative 3D model is transformed into the intraoperative video environment to implement the multi‐modal fusion. (3) A framework for virtual‐to‐real projection based on hand‐eye alignment. For the purpose of projecting the 3D model onto the imaging plane of the camera, it uses position data from electromagnetic sensors.
Results
Our AR‐assisted navigation system can accurately guide physicians, which means a distance of registration error to be restricted to under 5 mm and a projection error of 5.76 ± 2.13, and the intubation procedure is done at 30 frames per second.
Conclusions
Coupled with clinical validation and user studies, both the quantitative and qualitative results indicate that our navigation system has the potential to be highly useful in clinical practice.</abstract><cop>England</cop><pub>Wiley Subscription Services, Inc</pub><pmid>38847242</pmid><doi>10.1002/rcs.2649</doi><tpages>15</tpages><orcidid>https://orcid.org/0000-0002-7991-9540</orcidid><orcidid>https://orcid.org/0000-0002-8278-1263</orcidid></addata></record> |
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| subjects | Augmented Reality Cholangiopancreatography, Endoscopic Retrograde - methods Endoscopes Frames per second Gallbladder Humans Imaging, Three-Dimensional - methods Navigation systems Phantoms, Imaging registration Reproducibility of Results Robotic Surgical Procedures - instrumentation Robotic Surgical Procedures - methods simultaneous localisation and mapping Simultaneous localization and mapping Surgery, Computer-Assisted - instrumentation Surgery, Computer-Assisted - methods surgical navigation Surgical Navigation Systems Three dimensional models |
| title | Augmented‐reality‐based surgical navigation for endoscope retrograde cholangiopancreatography: A phantom study |
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