Research On Surgery Navigation And Visual Location In Robotic-Aided Minimal Invasive Cardiac Surgery

Robotic-Aided Minimal Invasive Cardiac Surgery has the incomparable advantages with traditional cardiac surgery, such as minimal ports, fast recovery. Minimal Invasive Cardiac Surgery is mainly composed of two parts: preoperative planning and operative navigation. They are often defined as the time sequences of the operation. If one of them is designed improperly, the result which was supposed to be happening will not come true, or even causes the failure.Based on the principle of Robotic-Aided Neuro-Surgery preoperative planning, the first part has been accomplished that contains ports optimization and collision examination between left and right robotic arms, moreover, 12 cases of ASD and CABG has also been testified to be good results. Followed by operative navigation, the patient's data in the course of surgery cannot be acquired unlike the Robotic-Aided Neuro-Surgery navigation. Therefore, it's really difficult to reconstruct the 3D Volume data. But due to the change of patient's placement between pre-operation and operation, it becomes the key to locate the site.Aiming at the characters of Robotic-Aided Minimal Invasive Cardiac Surgery, that is one port for endoscope and the others for left and right robotic arms. A new method of site location based on the monocular visual technique is being brought out.Firstly, special dots which are easily identified by location apparatus is attached to the surface of patient's chest. After instruments registration, the real-world 3D coordinates of these dots are obtained, so are inner-computer 2D coordinates. By doing this, endoscope calibration is completed. Secondly, on the view of acquiring the cardiac dynamic colorful images, site image matching is on its way, in order to help doctor find out the location of site faster and more accurate.Finally, in the confirmation of finding out the site by doctor, monocular visual technique is applied to the distance measurement between endoscope and site, so that the real-world 3D coordinates of site is rectified.After a series of simulative experiments, the error of measurement is not out of tolerance in Robotic-Aided Minimal Invasive Cardiac Surgery.