title: From medical images to minimally invasive intervention: Computer assistance for robotic surgery.
abstract: Minimally invasive surgery has been established as an important way forward in surgery for reducing patient trauma and hospitalization with improved prognosis. The introduction of robotic assistance enhances the manual dexterity and accuracy of instrument manipulation. Further development of the field in using pre- and intra-operative imaging guidance requires the integration of the general anatomy of the patient with clear pathologic indications and geometrical information for preoperative planning and intra-operative manipulation. It also requires effective visualization and the recreation of haptic and tactile sensing with dynamic active constraints to improve consistency and safety of the surgical procedures. This paper describes key technical considerations of tissue deformation tracking, 3D reconstruction, subject-specific modeling, image guidance and augmented reality for robotic assisted minimally invasive surgery. It highlights the importance of adapting preoperative surgical planning according to intra-operative data and illustrates how dynamic information such as tissue deformation can be incorporated into the surgical navigation framework. Some of the recent trends are discussed in terms of instrument design and the usage of dynamic active constraints and human-robot perceptual docking for robotic assisted minimally invasive surgery.
authors.affiliation: Royal Society/Wolfson Foundation Medical Image Computing Laboratory, Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, United Kingdom.
authors.forename: Su-Lin
authors.initials: SL
authors.lastname: Lee
authors.forename: Mirna
authors.initials: M
authors.lastname: Lerotic
authors.forename: Valentina
authors.initials: V
authors.lastname: Vitiello
authors.forename: Stamatia
authors.initials: S
authors.lastname: Giannarou
authors.forename: Ka-Wai
authors.initials: KW
authors.lastname: Kwok
authors.forename: Marco
authors.initials: M
authors.lastname: Visentini-Scarzanella
authors.forename: Guang-Zhong
authors.initials: GZ
authors.lastname: Yang
mesh_terms: D003198:Computer Simulation; D054459:Elasticity Imaging Techniques / Q000379:methods*; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D019060:Minimally Invasive Surgical Procedures / Q000379:methods*; D008954:Models, Biological; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014584:User-Computer Interface