naa a22 4500 510807232 CHVBK 20180411083424.0 cr unu---uuuuu 180411e20131101xx s 000 0 eng 10.1007/s11548-013-0897-4 doi (NATIONALLICENCE)springer-10.1007/s11548-013-0897-4 Projection-based visual guidance for robot-aided RF needle insertion [Elektronische Daten] [Rong Wen, Chee-Kong Chui, Sim-Heng Ong, Kah-Bin Lim, Stephen Chang] Purpose: The use of projector-based augmented reality (AR) in surgery may enable surgeons to directly view anatomical models and surgical data from the patient's surface (skin). It has the advantages of a consistent viewing focus on the patient, an extended field of view and augmented interaction. This paper presents an AR guidance mechanism with a projector-camera system to provide the surgeon with direct visual feedback for supervision of robotic needle insertion in radiofrequency (RF) ablation treatment. Methods: The registration of target organ models to specific positions on the patient body is performed using a surface-matching algorithm and point-based registration. An algorithm based on the extended Kalman filter and spatial transformation is used to intraoperatively compute the virtual needle's depth in the patient's body for AR display. Results: Experiments of this AR system on a mannequin were conducted to evaluate AR visualization and accuracy of virtual RF needle insertion. The average accuracy of 1.86mm for virtual needle insertion met the clinical requirement of 2mm or better. The feasibility of augmented interaction with a surgical robot using the proposed open AR interface with active visual feedback was demonstrated. Conclusions: The experimental results demonstrate that this guidance system is effective in assisting a surgeon to perform a robot-assisted radiofrequency ablation procedure. The novelty of the work lies in establishing a navigational procedure for percutaneous surgical augmented intervention integrating a projection-based AR guidance and robotic implementation for surgical needle insertion. CARS, 2013 Augmented reality nationallicence Augmented interaction nationallicence Visual guidance nationallicence Image-guided surgery nationallicence Projector-camera system nationallicence Radiofrequency ablation nationallicence Wen Rong Department of Mechanical Engineering, National University of Singapore, 117576, Singapore, Singapore aut Chui Chee-Kong Department of Mechanical Engineering, National University of Singapore, 117576, Singapore, Singapore aut Ong Sim-Heng Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore, Singapore aut Lim Kah-Bin Department of Mechanical Engineering, National University of Singapore, 117576, Singapore, Singapore aut Chang Stephen Department of Surgery, National University Hospital, 119077, Singapore, Singapore aut International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 1015-1025 1861-6410 8:6<1015 2013 8 11548 https://doi.org/10.1007/s11548-013-0897-4 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-013-0897-4 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Wen Rong Department of Mechanical Engineering, National University of Singapore, 117576, Singapore, Singapore aut NATIONALLICENCE 700 1- Chui Chee-Kong Department of Mechanical Engineering, National University of Singapore, 117576, Singapore, Singapore aut NATIONALLICENCE 700 1- Ong Sim-Heng Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore, Singapore aut NATIONALLICENCE 700 1- Lim Kah-Bin Department of Mechanical Engineering, National University of Singapore, 117576, Singapore, Singapore aut NATIONALLICENCE 700 1- Chang Stephen Department of Surgery, National University Hospital, 119077, Singapore, Singapore aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 1015-1025 1861-6410 8:6<1015 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer