腹腔鏡下手術支援システムを目指した複合現実技術による肝臓モデルの重畳表示

抄録

In laparoscopic surgery, the problem is that endoscopic cameras have a narrow field of view and are often overlooked even if organs outside the field of view are damaged. As support, surgical navigation systems present the entire organ. However, because the navigation system uses preoperative medical images, the difference between the actual situation and the information presented by the navigation system increases as the surgery progresses. To solve this problem, in this study, a system of superimposing a deformed intraoperative organ virtual model onto an endoscopic image using mixed reality technology is proposed. In the proposed system, the movement of the surgical instrument is tracked by a motion capture (Mocap) system, and the dynamic deformation of the organ due to contact with the surgical instrument is calculated by a dynamic simulation. In the experiment, a liver model made of urethane resin was placed in a mannequin. The superposition of the endoscopic image of the liver model and the deformed virtual liver model was confirmed.