ABSTRACT
In this paper, we present an Augmented Reality (AR)-based application combined with a robotic system for percutaneous renal puncture navigation interaction and demonstrate its technical feasibility. Our system provides an intuitive interaction scheme between the surgeon and the robot without the need for traditional external input devices, and applies an image-target-based 3D registration scheme to transform the coordinate system between Hololens2 and the robot without using additional tracking devices. Users can visualize the abdominal puncture phantom and obtain 3D depth information of the lesion site by wearing Hololens2 and control the robot directly using buttons or gestures. To investigate the accuracy and feasibility of the proposed interaction scheme, six subjects were recruited to complete 3D registration alignment accuracy experiments, and puncture positioning accuracy experiments using ultrasound unaided navigation, AR unaided navigation and AR robotic navigation. The results showed that the average alignment error of 3D registration was 3.61 ± 1.05 mm. The average positioning errors of ultrasound freehand navigation, AR freehand navigation and AR robotic navigation were 7.67 ± 2.00 mm, 6.13 ± 1.07 mm and 5.52 ± 0.37 mm, respectively; the average puncture times were 34.86 ± 1.67 s, 22.40 ± 2.07 s, and 29.41 ± 1.37 s.
本文提出了一种结合机器人系统的基于增强现实（AR）的应用，用于实现经皮肾穿刺导航交互，并验证了其技术可行性。本系统提供了一种无需传统外部输入设备、直观的医生与机器人之间的交互方案；同时，系统采用基于图像目标的3D配准方案，实现了Hololens2与机器人之间坐标系的转换，且无需借助额外的追踪设备。用户佩戴Hololens2即可实现腹部穿刺模体的可视化，获取病灶部位的3D深度信息，并通过按钮或手势直接操控机器人。为探究所提交互方案的准确性与可行性，本研究招募了六名受试者，完成了3D配准对齐准确性实验，以及分别采用超声辅助导航、AR辅助导航和AR机器人导航模式下的穿刺定位准确性实验。实验结果显示，3D配准的平均对齐误差为3.61 ± 1.05 mm。超声徒手导航、AR徒手导航和AR机器人导航模式下的平均定位误差分别为7.67 ± 2.00 mm、6.13 ± 1.07 mm和5.52 ± 0.37 mm；对应的平均穿刺耗时分别为34.86 ± 1.67 s、22.40 ± 2.07 s和29.41 ± 1.37 s。