磁性缝合针在有血和组织的杂乱手术部位的定位与控制
Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue
摘要：
针的实时视觉定位对于各种手术应用是必要的，包括手术自动化和视觉反馈。在这项研究中，我们调查的背景下，我们的磁共振系统的针的定位和自主机器人控制。我们的系统具有手术操作的潜力，具有微创和减少患者副作用的优点。然而，非线性磁场会产生非直观的力，并需要精细的基于位置的控制，这超出了人类直接操纵的能力。这使得自动针定位成为必要。我们的定位方法结合了基于神经网络的分割和经典技术，并且我们能够在清洁环境中以0.73 mm RMS误差和在具有血液和闭塞的挑战性环境中以2.72 mm RMS误差一致地定位我们的针。对于我们在实验中使用的所有环境，平均定位RMS误差为2.16 mm。我们结合我们的闭环反馈控制系统的本地化方法，以证明本地化自主控制的进一步适用性。我们的缝针能够在（1）无血液，无组织;（2）大量血液，无组织;（3）无血液，有组织;和（4）大量血液，有组织环境中遵循连续缝合路径。尖端位置跟踪误差范围为2.6 mm至3.7 mm RMS，为自主导航任务打开了大门。
英文摘要：
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context of our magneto-suturing system. Our system holds the potential for surgical manipulation with the benefit of minimal invasiveness and reduced patient side effects. However, the non-linear magnetic fields produce unintuitive forces and demand delicate position-based control that exceeds the capabilities of direct human manipulation. This makes automatic needle localization a necessity. Our localization method combines neural network-based segmentation and classical techniques, and we are able to consistently locate our needle with 0.73 mm RMS error in clean environments and 2.72 mm RMS error in challenging environments with blood and occlusion. The average localization RMS error is 2.16 mm for all environments we used in the experiments. We combine this localization method with our closed-loop feedback control system to demonstrate the further applicability of localization to autonomous control. Our needle is able to follow a running suture path in (1) no blood, no tissue; (2) heavy blood, no tissue; (3) no blood, with tissue; and (4) heavy blood, with tissue environments. The tip position tracking error ranges from 2.6 mm to 3.7 mm RMS, opening the door towards autonomous suturing tasks.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
