開發可用於半自動化腹腔鏡手術之多模微型成像探頭先導型研究

A pilot study of developing a multimodal miniature image head for the semiautonomous laparoscopic surgery procedure

吳政杰(Zheng-Jie Wu)

指導教授 ： 李翔傑

國立臺灣大學/電機資訊學院/光電工程學研究所/碩士(2022年)

https://doi.org/10.6342/NTU202200057

摘要

在過去幾年中，機器人技術已被廣泛地應用於各式腹腔鏡手術的臨床實踐，並解決如：泌尿學、腸胃病學、婦科學等臨床醫學的相關問題。儘管這項新技術能輔佐外科醫生在施作複雜腹腔鏡手術時，實現高準確性與高精度。但長時間以高專注力執行手術會帶給外科醫生視覺上的疲勞，而這將導致他們的深度感知能力下降。
在本篇論文中，我們開發了一具有測距功能的多模微型成像探頭，其整合了USB 3.0傳輸的微型CMOS廣角相機和自架設的一維掃頻式光學同調斷層掃描術 (Swept-source optical coherence tomography, SS-OCT)系統，其光源的中心波長為1310奈米、掃描頻率為100 kHz。由於OCT技術具有非侵入式、快速成像、縱向解析度高等優勢，我們期望利用這些優點設計高精度的距離量測系統，並應用於半自動腹腔鏡手術中以便降低手術者的負擔。
此外，我們也開發一套利用OCT訊號進行測距的演算法，並加入光點中心定位及距離警示兩項輔助功能，方便系統操縱者能從相機影像顯示介面得知當前測距的位置以及量測的障礙物是否處於自定義之安全距離內。最後再將距離、系統參數、輔助功能等資訊整合至一客製化的圖形使用者介面，且該介面使用Visual Studio 2015平台下的MFC (Microsoft Foundation Classes)應用程式框架進行開發，以期提供系統使用者更加直觀的操縱體驗。
為了驗證開發的微型探頭及測距演算法的穩定性和成效，我們使用豬里肌肉作為距離量測之樣本，並開啟光點中心定位及距離警示兩項功能進行實驗，透過測距實驗的結果能證實其測距能力以及將其應用於半自動腹腔鏡手術的可行性。在未來的研究中，我們將致力於延伸測距的工作深度，並對現有探頭進行改良，以期該探頭能在OCT二維影像及一維測距間進行切換。再通過與研究半自動手術機器人及臨床醫學的團隊們進行多方合作，以期最大化本研究成果。

關鍵字

光學同調斷層掃描術 ； 機器人手術 ； 腹腔鏡手術 ； 測距 ； 半自動腹腔鏡手術

並列摘要

In the past few years, robotics has been widely applied in clinical practice for various laparoscopic procedures and solves related problems in clinical medicine such as urology, gastroenterology, and gynecology. This new technology can assist surgeons in performing complex laparoscopy and achieve high accuracy and high precision. However, performing the operation with high concentration for a long time will cause visual fatigue to the surgeon, leading to declining their depth perception ability.
In this study, we developed a multimodal miniature imaging head with ranging capability, which integrates a USB 3.0 miniature wide-angle camera and a self-built one-dimensional swept-source optical coherence tomography (SS-OCT) system. The center wavelength of the light source is 1310 nm, and the A-scan rate is 100 kHz. Since OCT technology has the advantages of non-invasive, fast imaging, and high axial resolution. We use these advantages to design a high precision ranging system, and expect for applying it to semiautonomous laparoscopy in order to reduce the labor loading to the surgeons.
In addition, we designed an algorithm using OCT signals for ranging and added two auxiliary functions: light spot center positioning and distance warning, so that system operators can learn the current ranging position and understand whether the obstacle is within the custom safety distance from the camera preview panel. Finally, we designed a customized graphical user interface (GUI) using the MFC (Microsoft Foundation Classes) application framework under Visual Studio 2015, and integrated ranging result, system parameters, and auxiliary functions into it. We hope this GUI will give the users more intuitive operating experience.
In order to verify the stability and effectiveness of the developed miniature image head and the ranging algorithm, we used pork tenderloin as the sample, then switched on the two auxiliary functions: light spot center positioning and distance warning for ranging experiment. The experiment result can prove the ranging ability of our image head and the feasibility of applying it to semiautonomous laparoscopic surgery. In future research, we will focus on extending the ranging working distance and improving the existing image head, hoping the redesigned image head can support either 2D OCT imaging or single axial scan ranging interchangeably. Then through the cooperation with semi-robotic surgical robots or clinical medicine research teams, we expect our research can produce the best possible results.

並列關鍵字

optical coherence tomography ； robotic surgery ； laparoscopy ； ranging ； semiautonomous laparoscopic surgery

參考文獻

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